Title:
Performance Verification for Behavior-based Robot Missions
Performance Verification for Behavior-based Robot Missions
Author(s)
Lyons, Damian M.
Arkin, Ronald C.
Jiang, Shu
Liu, Tsung-Ming
Nirmal, Paramesh
Deeb, J.
Arkin, Ronald C.
Jiang, Shu
Liu, Tsung-Ming
Nirmal, Paramesh
Deeb, J.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
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.
Sponsor
Date Issued
2013
Extent
Resource Type
Text
Resource Subtype
Paper