The issue of explainability for autonomous systems is becoming increasingly prominent. Several researchers and organisations have advocated the provision of a “Why did you do that?” button which allows a user to interrogate a robot about its choices and actions. We take previous work on debugging cognitive agent programs and apply it to the question of supplying explanations to end users in the form of answers to why-questions. These previous approaches are based on the generation of a trace of events in the execution of the program and then answering why-questions using the trace. We implemented this framework in the agent infrastructure layer and, in particular, the Gwendolen programming language it supports – extending it in the process to handle the generation of applicable plans and multiple intentions. In order to make the answers to why-questions comprehensible to end users we advocate a two step process in which first a representation of an explanation is created and this is subsequently converted into natural language in a way which abstracts away from some events in the trace and employs application specific predicate dictionaries in order to translate the first-order logic presentation of concepts within the cognitive agent program in natural language. A prototype implementation of these ideas is provided.

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In future inspections of offshore assets utilizing robots, robots will not only be expected to collate new data from their payload of instruments, but they will also be expected to interact with the infrastructure being inspected, undertake remedial tasks and engage with embedded monitoring systems of the asset. This increasing level of interaction and deployment frequency of robot inspections requires an understanding of how we can embed safe and trusted operational architectures within robots. Currently, robots can undertake constrained semi-autonomous inspections, using predetermined tasks (missions) with minimum supervision. However, the challenge is that the state of the world changes with time as does the condition of the robot. Therefore, robots must be able to undertake adaptive measures to support optimal outcomes during autonomous missions. In this paper, we propose an initial architecture to the safe verification and validation of health condition and certification of robotic and autonomous inspection systems for offshore assets. Our first contribution relates to the verification and validation architecture, which takes into account risks associated with asset inspection, safety protocols, evolving ambient changes, as well as the inherent state of health of the robot. The second part of our paper looks to how prognostic analytics can be used to support robot resilience in terms of sensor drift and accurate state of health estimates of critical sub-systems. Initial results demonstrate that methods such as relevance vector machines and Bayesian networks can be used to accurately mitigate risks to autonomy.@en

Robots are increasingly used to carry out critical missions in extreme environments that are hazardous for humans. This requires a high degree of operational autonomy under uncertain conditions, and poses new challenges for assuring the robot's safety and reliability. In this paper, we develop a framework for probabilistic model checking on a layered Markov model to verify the safety and reliability requirements of such robots, both at pre-mission stage and during runtime. Two novel estimators based on conservative Bayesian inference and imprecise probability model with sets of priors are introduced to learn the unknown transition parameters from operational data. We demonstrate our approach using data from a real-world deployment of unmanned underwater vehicles in extreme environments.

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Autonomous systems are increasingly being used in safety-and mission-critical domains, including aviation, manufacturing, healthcare and the automotive industry. Systems for such domains are often verified with respect to essential requirements set by a regulator, as part of a process called certification. In principle, autonomous systems can be deployed if they can be certified for use. However, certification is especially challenging as the condition of both the system and its environment will surely change, limiting the effective use of the system. In this paper we discuss the technological and regulatory background for such systems, and introduce an architectural framework that supports verifiably-correct dynamic self-certification by the system, potentially allowing deployed systems to operate more safely and effectively.

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