Title:
A Software Tool for the Design of Critical Robot Missions with Performance Guarantees
A Software Tool for the Design of Critical Robot Missions with Performance Guarantees
Author(s)
Lyons, Damian M.
Arkin, Ronald C.
Nirmal, Paramesh
Jiang, Shu.
Liu, Tsung-Ming
Arkin, Ronald C.
Nirmal, Paramesh
Jiang, Shu.
Liu, Tsung-Ming
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Abstract
Deploying a robot as part of a counter-weapons of mass destruction mission demands that the robotic software operates with high
assurance. A unique feature of robotic software development is the need to perform
predictably in a physical environment that may only be poorly characterized in advance.
In this paper, we present an approach to building high assurance software for robot missions carried out in uncertain environments. The software development framework and the verification algorithm, VIPARS, are described in detail. Results are presented for missions including motion and sensing uncertainty, interaction with obstacles, and
the use of sensors to guide behavior.
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Date Issued
2013-03
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Text
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Article