Organizational Unit:
Mobile Robot Laboratory

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Author: Harrington, Dagan × Author: Jiang, Shu × search.filters.applied.f.resourcesubtype: Paper ×

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Automatic Verification of Autonomous Robot Missions

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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Performance Guarantees for C - WMD Robot Missions

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.

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Verifying and Validating Multirobot Missions

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

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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