Title:
Automatic Verification of Autonomous Robot Missions
Automatic Verification of Autonomous Robot Missions
Author(s)
O'Brien, Matthew
Arkin, Ronald C.
Harrington, Dagan
Lyons, Damian M.
Jiang, Shu
Arkin, Ronald C.
Harrington, Dagan
Lyons, Damian M.
Jiang, Shu
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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.
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Date Issued
2014
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Text
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Paper