Organizational Unit:
Mobile Robot Laboratory

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Author: Harrington, Dagan × Author: Jiang, Shu × Item Type: Publication ×

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Now showing 1 - 5 of 5
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    Probabilistic Verification of Multi-robot Missions in Uncertain Environments
    (Georgia Institute of Technology, 2015-11) Lyons, Damian M. ; Arkin, Ronald C. ; Jiang, Shu ; Harrington, Dagan ; Tang, Feng ; Tang, Peng
    The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in an uncertain environment with obstacles is a challenging problem. This paper addresses the challenges involved in building a software tool for verifying the behavior of a multi-robot waypoint mission that includes uncertain environment geometry as well as uncertainty in robot motion. One contribution of this paper is an approach to the problem of apriori specification of uncertain environments for robot program verification. A second contribution is a novel method to extend the Bayesian Network formulation to reason about random variables with different subpopulations, introduced to address the challenge of representing the effects of multiple sensory histories when verifying a robot mission. The third contribution is experimental validation results presented to show the effectiveness of this approach on a two-robot, bounding overwatch mission.
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    Automatic Verification of Autonomous Robot Missions
    (Georgia Institute of Technology, 2014) O'Brien, Matthew ; Arkin, Ronald C. ; Harrington, Dagan ; Lyons, Damian M. ; Jiang, Shu
    Before autonomous robotics can be used for dangerous or critical missions, performance guarantees should be made available. This paper overviews a software system for the verification of behavior-based controllers in context of chosen hardware and environmental models. Robotic controllers are automatically translated to a process algebra. The system comprising both the robot and the environment are then evaluated by VIPARS, a verification software module in development, and compared to specific performance criteria. The user is returned a probability that the performance criteria will hold in the uncertainty of real-world conditions. Experimental results demonstrate accurate verification for a mission related to the search for a biohazard.
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    Verifying and Validating Multirobot Missions
    (Georgia Institute of Technology, 2014) Lyons, Damian M. ; Arkin, Ronald C. ; Jiang, Shu ; Harrington, Dagan ; Liu, Tsung-Ming
    We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions of a real-world environment, will hold within a threshold probability. In this paper we demonstrate its utility for verifying multirobot missions, in particular a bounding overwatch mission.
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    Getting it Right the First Time: Verification of Behavior-based Multirobot Missions
    (Georgia Institute of Technology, 2014) Lyons, Damian M. ; Arkin, Ronald C. ; Jiang, Shu ; Harrington, Dagan ; O'Brien, Matthew
    In research being conducted for the Defense Threat Reduction Agency (DTRA), we are concerned with robot missions that may only have a single opportunity for successful completion, with serious consequences if the mission is not completed properly. In particular we are investigating missions for Counter-Weapons of Mass Destruction (C-WMD) operations, which require discovery of a WMD within a structure and then either neutralizing it or reporting its location and existence to the command authority. Typical scenarios consist of situations where the environment may be poorly characterized in advance in terms of spatial layout, and have time-critical performance requirements. It is our goal to provide reliable performance guarantees for whether or not the mission as specified may be successfully completed under these circumstances, and towards that end we have developed a set of specialized software tools to provide guidance to an operator/commander prior to deployment of a robot tasked with such a mission.
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    Performance Guarantees for C - WMD Robot Missions
    (Georgia Institute of Technology, 2013) Jiang, Shu ; Arkin, Ronald C. ; Lyons, Damian M. ; Liu, Tsung-Ming ; Harrington, Dagan
    Robotics has been considered as one of the five key technology areas for defense against attacks with weapons of mass destruction (WMD). However, due to the mass impact nature of WMD, failures of counter-WMD (C-WMD) missions can have catastrophic consequences. To ensure robots’ success in carrying out C-WMD missions, we have developed a novel verification framework in providing performance guarantees for behavior-based and probabilistic robot algorithms in complex real-world environments. This paper describes the system architecture and discusses how the verification framework can be used to provide pre-mission performance guarantees for robots in executing C-WMD missions.