Enhanced robot safety perception and integrity monitoring

A device comprising a processor configured to:

• determine a deviation of a robot from a planned trajectory, wherein the deviation is based on a comparison of the planned trajectory with received sensor data indicative of an actual trajectory of the robot;
• determine a risk score associated with the deviation, wherein the risk score is based on identified objects within the actual trajectory;
• and
• generate a mitigation instruction if the risk score exceeds a threshold value, wherein the mitigation instruction comprises a revised trajectory for the robot;
• generate a takeover instruction if a difference between the revised trajectory and updated sensor data indicative of an updated actual trajectory of the robot exceeds a threshold difference.

A device comprising:

• a means for determining a reliability level of a sensing means of a robot based on a difference between sensor data indicative of a current motion of the robot in an environment and expected sensor data for the environment and the current motion;
• a means for determining a risk assessment based on the reliability level of the sensing means and based on an expected movement of the robot;
• and
• a means for generating a mitigation plan for the robot if the risk assessment exceeds a threshold value.