Title:
Performance Verification for Behavior-Based Robot Missions
Performance Verification for Behavior-Based Robot Missions
| dc.contributor.author | Lyons, Damian M. | |
| dc.contributor.author | Arkin, Ronald C. | |
| dc.contributor.author | Jiang, Shu | |
| dc.contributor.author | Liu, Tsung-Ming | |
| dc.contributor.author | Nirmal, Paramesh | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Interactive Computing | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Mobile Robot Laboratory | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2017-05-05T15:50:06Z | |
| dc.date.available | 2017-05-05T15:50:06Z | |
| dc.date.issued | 2015-06 | |
| dc.description | © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | DOI: 10.1109/TRO.2015.2418592 | en_US |
| dc.description.abstract | 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. | en_US |
| dc.identifier.citation | Lyons, D. M., Arkin, R. C., Jiang, S., Liu, T. M., & Nirmal, P. (2015). Performance Verification for Behavior | en_US |
| dc.identifier.doi | 10.1109/TRO.2015.2418592 | en_US |
| dc.identifier.issn | 1552-3098 (Print) | |
| dc.identifier.issn | 1941-0468 (Online) | |
| dc.identifier.uri | http://hdl.handle.net/1853/56679 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.relation.ispartofseries | Mobile Robot Laboratory | en_US |
| dc.subject | Autonomous agents | en_US |
| dc.subject | Behavior-based systems | en_US |
| dc.subject | Control architectures | en_US |
| dc.subject | Programming | en_US |
| dc.subject | Program verification | en_US |
| dc.title | Performance Verification for Behavior-Based Robot Missions | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Arkin, Ronald C. | |
| local.contributor.corporatename | College of Computing | |
| local.contributor.corporatename | Mobile Robot Laboratory | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
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