Code Generation and Monitoring for Deliberation Components in Autonomous Robots
Stefano Bernagozzi, S. Faraci, Enrico Ghiorzi, K. Pedemonte, Lorenzo Natale, Armando Tacchella
Abstract
Hand-coded deliberation components are prone to flaws that may not be discovered before deployment and that can be harmful to the robot and its execution environment, including the people within it. To reduce development effort and at the same time increase confidence in robot’s safety, we propose to model deliberation components at a conceptual level, to automatically generate code from such models and also to monitor their execution during robot operation. We present two tools, one which compiles models of deliberation components into executable code, and one which generates runtime monitors from the models. We have tested them in simulation, to demonstrate the usefulness of combining together model-based development, code generation, and monitoring.
BibTeX
@inproceedings{iros2025_codegenerationan,
title = {Code Generation and Monitoring for Deliberation Components in Autonomous Robots},
author = {Stefano Bernagozzi and S. Faraci and Enrico Ghiorzi and K. Pedemonte and Lorenzo Natale and Armando Tacchella},
booktitle = {IROS 2025},
year = {2025}
}