Title:
Probabilistic Verification of Multi-robot Missions in Uncertain Environments
Probabilistic Verification of Multi-robot Missions in Uncertain Environments
dc.contributor.author | Lyons, Damian M. | |
dc.contributor.author | Arkin, Ronald C. | |
dc.contributor.author | Jiang, Shu | |
dc.contributor.author | Harrington, Dagan | |
dc.contributor.author | Tang, Feng | |
dc.contributor.author | Tang, Peng | |
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 | Fordham University | en_US |
dc.contributor.corporatename | Georgia Institute of Technology. Mobile Robot Laboratory | |
dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | |
dc.date.accessioned | 2017-05-04T16:06:56Z | |
dc.date.available | 2017-05-04T16:06:56Z | |
dc.date.issued | 2015-11 | |
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/ICTAI.2015.22 | en_US |
dc.description.abstract | 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. | en_US |
dc.identifier.citation | Lyons, D. M., Arkin, R. C., Jiang, S., Harrington, D., Tang, F., & Tang, P. (2015). Probabilistic Verification of Multi-robot Missions in Uncertain Environments. 2015 IEEE 27th International Conference on Tools with Artificial Intelligence (ICTAI), Vietri sul Mare, 2015, pp. 56-63. | en_US |
dc.identifier.doi | 10.1109/ICTAI.2015.22 | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/56671 | |
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 | Behavior-based robots | en_US |
dc.subject | Multi-robot missions | en_US |
dc.subject | Probabilistic verification | en_US |
dc.subject | Validation | en_US |
dc.title | Probabilistic Verification of Multi-robot Missions in Uncertain Environments | 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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