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    Performance Verification for Behavior-Based Robot Missions

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    JTRO_dml_R3_V11pub.pdf (1.288Mb)
    Date
    2015-06
    Author
    Lyons, Damian M.
    Arkin, Ronald C.
    Jiang, Shu
    Liu, Tsung-Ming
    Nirmal, Paramesh
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    Abstract
    Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results are presented for the verification of a multiple-waypoint and an autonomous exploration robot mission.
    URI
    http://hdl.handle.net/1853/56679
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    • Mobile Robot Laboratory [187]
    • Mobile Robot Laboratory Publications [187]

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