Title:
Formal Performance Guarantees for Behavior-Based Localization Missions
Formal Performance Guarantees for Behavior-Based Localization Missions
| dc.contributor.author | Lyons, Damian M. | en_US |
| dc.contributor.author | Arkin, Ronald C. | en_US |
| 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. Institute for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Mobile Robot Laboratory | en_US |
| dc.contributor.corporatename | Fordham University. Department of Computer and Information Science | en_US |
| dc.date.accessioned | 2017-04-10T20:45:20Z | |
| dc.date.available | 2017-04-10T20:45:20Z | |
| dc.date.issued | 2016-11 | |
| dc.description | © 2016 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.2016.0025 | en_US |
| dc.description.abstract | Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this paper we apply our MissionLab/VIPARS mission design and verification approach to an autonomous robot mission that uses probabilistic localization software. Two approaches to modeling probabilistic localization for verification are presented: a high-level approach, and a sample-based approach which allows run-time code to be embedded in verification. Verification and experimental validation results are presented for two waypoint missions using each method, demonstrating the accuracy of verification, and both are compared with verification of an odometry-only mission, to show the mission-specific benefit of localization. | en_US |
| dc.identifier.citation | Lyons, D.M., Arkin, R.C., Jiang, S., O'Brien, M., Tang, F. & Tang, P. (2016). Formal Performance Guarantees for Behavior-Based Localization Missions. 2016 IEEE 28th International Conference on Tools with Artificial Intelligence (ICTAI), San Jose, pp. 98-105. | en_US |
| dc.identifier.doi | 10.1109/ICTAI.2016.0025 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/56633 | |
| 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 | Formal methods | en_US |
| dc.subject | Localization | en_US |
| dc.subject | Mobile robots | en_US |
| dc.subject | Robot programming | en_US |
| dc.subject | Validation | en_US |
| dc.subject | Verification | en_US |
| dc.title | Formal Performance Guarantees for Behavior-Based Localization 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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