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For personal robots, and those intended to operate in unstructured environments, the problem of safety is compounded. In this paper we argue that traditional system design techniques fail to capture the complexities associated with dynamic environments. We present an overview of our safety-driven control system and its implementation methodology. The methodology builds on traditional functional hazard analysis, with the addition of processes aimed at improving the safety of autonomous personal robots. This will be achieved with the use of a safety system developed during the hazard analysis stage. This safety system, called the safety protection system, will initially be used to verify that safety constraints, identified during hazard analysis, have been implemented appropriately. Subsequently it will serve as a high-level safety enforcer, by governing the actions of the robot and preventing the control layer from performing unsafe operations. To demonstrate the effectiveness of the design, a series of experiments have been conducted using a MobileRobots PeopleBot. Finally, results are presented demonstrating how faults injected into a controller can be consistently identified and handled by the safety protection system.<\/jats:p>","DOI":"10.1177\/0278364912459665","type":"journal-article","created":{"date-parts":[[2012,9,5]],"date-time":"2012-09-05T01:38:20Z","timestamp":1346809100000},"page":"1603-1626","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":35,"title":["Building safer robots: Safety driven control"],"prefix":"10.1177","volume":"31","author":[{"given":"Roger","family":"Woodman","sequence":"first","affiliation":[{"name":"Bristol Robotics Laboratory, University of the West of England\u2019 Bristol, BS16 1QY, UK"}]},{"given":"Alan F.T.","family":"Winfield","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory, University of the West of England\u2019 Bristol, BS16 1QY, UK"}]},{"given":"Chris","family":"Harper","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory, University of the West of England\u2019 Bristol, BS16 1QY, UK"}]},{"given":"Mike","family":"Fraser","sequence":"additional","affiliation":[{"name":"University of Bristol, Department of Computer Science, Bristol, BS8 1UB, UK"}]}],"member":"179","published-online":{"date-parts":[[2012,9,4]]},"reference":[{"key":"bibr1-0278364912459665","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.6936985"},{"key":"bibr2-0278364912459665","doi-asserted-by":"publisher","DOI":"10.1049\/cp.2009.1536"},{"key":"bibr3-0278364912459665","volume-title":"ANSI\/RIA-R15.06-1999(R2009): Industrial Robots and Robot Systems \u2013 Safety Requirements","author":"American National Standards Institute","year":"2009"},{"key":"bibr4-0278364912459665","volume-title":"System Safety Engineering and Risk Assessment: A Practical Approach","author":"Bahr 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