Performance Verification for Behavior-based Robot Missions

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ARMS2013_GIRFT-V7.pdf (602.88 KB)
Author(s)
Lyons, Damian M.
Jiang, Shu
Liu, Tsung-Ming
Nirmal, Paramesh
Deeb, J.
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http://hdl.handle.net/1853/50081
Abstract
Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. This requirement raises many issues for existing approaches to software verification. An approach based on behavior-based controllers in a process-algebra framework is proposed by Lyons et al [15] to side-step state combinatorics. In this paper we show that this approach can be used to generate a Dynamic Bayesian Net work for the problem, and that verification is reduced to a filtering problem for this network. We present validation results for the verification of a multiple waypoint robot mission using this approach.
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2013
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