Cross-Layer Relational Conformance for Versioned Mobile-Robot Task Reconfiguration

Résumé fourni par la source

Version-changing mobile-robot task actions may propagate through a committed plan, executor state, runtime events, and reflected task state without all representations continuing to express the same decision. This preprint studies that problem for REASSIGN, ROUTE_UPDATE, and CANCEL using explicit action–plan, plan–execution, execution–state, and timing/propagation relations. In a broad mechanism-induced evaluation, cross-layer monitoring did not outperform fused single-layer monitoring, establishing that the method should not be interpreted as a generally superior execution-anomaly detector. In a separate predefined versioned-reconfiguration evaluation, 2,880 low-level traces yielded 968 independently audited relational challenges; the cross-layer contracts detected all 968, whereas the evaluated fused single-layer baseline detected none. A ROS 2/Open-RMF realization further demonstrates the availability of the basic task-to-execution information required by the relational abstraction, without constituting direct external validation of the three reconfiguration contracts. The frozen reproducibility assets associated with this preprint are archived separately in Zenodo release v1.0.0, version-specific DOI 10.5281/zenodo.21974408. The corresponding all-versions record is 10.5281/zenodo.21974407.

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