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Mobile Robot Laboratory

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Author: Liu, Tsung-Ming × Author: Lyons, Damian M. × End date: 2016 × Start date: 2015 × search.filters.applied.f.isOrgUnitOfPublicationTitle: Mobile Robot Laboratory × search.filters.applied.f.resourcesubtype: Proceedings ×

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Performance Verification for Behavior-Based Robot Missions

2015-06 , Lyons, Damian M. , Arkin, Ronald C. , Jiang, Shu , Liu, Tsung-Ming , Nirmal, Paramesh

Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results are presented for the verification of a multiple-waypoint and an autonomous exploration robot mission.

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