Automatic Verification of Autonomous Robot Missions

Thumbnail Image
Files
SIMPAR_61_12.pdf (400.54 KB)
Author(s)
O'Brien, Matthew
Harrington, Dagan
Lyons, Damian M.
Jiang, Shu
Advisor(s)
Editor(s)
Associated Organization(s)
Organizational Unit
Organizational Unit
Organizational Unit
Series
Collections
Research Publications
Supplementary to:
Permanent Link
http://hdl.handle.net/1853/52664
Abstract
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.
Sponsor
Date
2014
Extent
Resource Type
Text
Resource Subtype
Paper
Rights Statement
Rights URI