A Comparative Study of STPA Hierarchical Structures in Risk Analysis: The case of a Complex Multi-Robot Mobile System

Chaima Bensaci , Youcef Zennir , Denis Pomorski (1)

1 STF - Systèmes Tolérants aux Fautes

Autonomous multi-robot systems are among the most complex systems to control, especially when those robots navigate in hazardous and dynamic environments such as chemical analysis laboratories which include dangerous and harmful products (poisonous, flammable, explosive...). This paper presents an approach for systems-complex and theoretic safety assessment, also it considers their coordinating, cooperating and collaborating using different control architectures (centralized, hierarchical and modified hierarchical). We classified those control architectures according to their properties, and then we used a systems-theoretic hazard analysis technique (STPA) to identify the potential safety hazard scenarios and their causal factors.

Keywords: Risk Analysis; STAMP Method; STPA Method; Multi-Robot Mobile System; Control Architectures

Domains: Automatic

Chaima Bensaci, Youcef Zennir, Denis Pomorski. A Comparative Study of STPA Hierarchical Structures in Risk Analysis: The case of a Complex Multi-Robot Mobile System. European Conference on Electrical Engineering & Computer Science, EECS 2018, Dec 2018, Bern, Switzerland. ⟨hal-02014905⟩