Title:
Getting it Right the First time: Robot Mission Guarantees in the Presence of Uncertainty
Getting it Right the First time: Robot Mission Guarantees in the Presence of Uncertainty
| dc.contributor.author | Lyons, Damian M. | |
| dc.contributor.author | Arkin, Ronald C. | |
| dc.contributor.author | Nirmal, P. | |
| dc.contributor.author | Jiang, Shu | |
| dc.contributor.author | Liu, Tsung-Ming | |
| dc.contributor.author | Deeb, J. | |
| 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. Mobile Robot Laboratory | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.contributor.corporatename | Fordham University. Dept. of Computer and Information Science | |
| dc.date.accessioned | 2014-01-03T20:27:10Z | |
| dc.date.available | 2014-01-03T20:27:10Z | |
| dc.date.issued | 2013 | |
| dc.description.abstract | Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for behavior-based controllers in a process-algebra framework. We extend that work here to include random variables, and we show how our prior results can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Verification is reduced to a filtering problem for this network. Finally, we present validation results that demonstrate the effectiveness of the verification of a multiple waypoint robot mission using this approach. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/50051 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Autonomous robots | en_US |
| dc.subject | Emergent behavior | en_US |
| dc.subject | Multiple waypoint | en_US |
| dc.subject | Performance guarantees | en_US |
| dc.title | Getting it Right the First time: Robot Mission Guarantees in the Presence of Uncertainty | en_US |
| dc.type | Text | |
| dc.type.genre | Paper | |
| 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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