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GARV: Safety Verification and Graph-Aware Refinement for High-Level Robot Planning
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Stabak Das and co-authors propose GARV, which combines graph-based action contracts with a safety monitor to output model-relative safety certificates or counterexamples for high-level robot actions such as goto(region); when a path is selectable and enforceable, it also provides a minimum-cost safe refinement. The authors state that GARV's guarantees remain conditional on the semantic graph, action contracts, safety specifications, and the enforceability of the chosen route.
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- GARV: Graph-Aware Refinement and Safety Verification for High-Level Robot Plans
The authors propose GARV, which combines graph-based action contracts with a safety monitor to produce a model-relative safety certificate or counterexample for high-level actions such as goto(region), and to provide a minimum-cost safe refinement when alternative routes are available.
arXiv cs.RO ·