A multilayer software architecture for safe autonomous robots

In this paper a safety-oriented model based software architecture for robotic solutions is proposed. The main focus herein is to consider aspects such as real-time, heterogeneity, deployment, modeling and analysis of emerging effects as well as functional safety and to combine all aspects into an overall development approach. The architecture shall capture the complexity caused by the autonomy and mobility of the robot and support the developer with a suitable chain of evidence especially suited for the safety relevant functions. A use case comprising a lightweight robotic manipulator which will be integrated in a mobile service robot underlines the feasibility of this approach.