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The recent drive towards achieving greater autonomy and intelligence inrobotics has led to high levels of complexity. Autonomous robots increasinglydepend on third party off-the-shelf components and complex machine-learningtechniques. This trend makes it challenging to provide strong design-timecertification of correct operation.  To address these challenges, we present SOTER, a robotics programmingframework with two key components: (1) a programming language for implementingand testing high-level reactive robotics software and (2) an integrated runtimeassurance (RTA) system that helps enable the use of uncertified components,while still providing safety guarantees. SOTER provides language primitives todeclaratively construct a RTA module consisting of an advanced,high-performance controller (uncertified), a safe, lower-performance controller(certified), and the desired safety specification. The framework provides aformal guarantee that a well-formed RTA module always satisfies the safetyspecification, without completely sacrificing performance by using higherperformance uncertified components whenever safe. SOTER allows the complexrobotics software stack to be constructed as a composition of RTA modules,where each uncertified component is protected using a RTA module.  To demonstrate the efficacy of our framework, we consider a real-worldcase-study of building a safe drone surveillance system. Our experiments bothin simulation and on actual drones show that the SOTER-enabled RTA ensures thesafety of the system, including when untrusted third-party components have bugsor deviate from the desired behavior.

SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems