Title:
Getting it Right the First Time: Verification of Behavior-based Multirobot Missions
Getting it Right the First Time: Verification of Behavior-based Multirobot Missions
Author(s)
Lyons, Damian M.
Arkin, Ronald C.
Jiang, Shu
Harrington, Dagan
O'Brien, Matthew
Arkin, Ronald C.
Jiang, Shu
Harrington, Dagan
O'Brien, Matthew
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Abstract
In research being conducted for the Defense Threat Reduction
Agency (DTRA), we are concerned with robot
missions that may only have a single opportunity for successful completion,
with serious consequences if the mission is not completed properly. In particular we are investigating missions for
Counter-Weapons of Mass Destruction (C-WMD) operations,
which require discovery of a WMD within a structure and then either neutralizing it or reporting its location and existence to the command authority. Typical scenarios consist of situations where the environment may be poorly characterized in
advance in terms of spatial layout, and have time-critical performance requirements. It is our goal to provide reliable
performance guarantees
for whether or not the mission as specified may be successfully completed under these circumstances, and towards that end we have developed a set
of specialized software tools to provide guidance to an operator/commander prior to deployment of a robot tasked with such a mission.
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Date Issued
2014
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Text
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Paper