Document Type
Article
Keywords
performance guarantees; verification; mobile robotics
Disciplines
Computer Engineering | Robotics
Abstract
Deploying a robot as part of a counter-weapons of mass destruction mission demands that the robotic software operates with high assurance. A unique feature of robotic software development is the need to perform predictably in a physical environment that may only be poorly characterized in advance. In this paper, we present an approach to building high assurance software for robot missions carried out in uncertain environments. The software development framework and the verification algorithm, VIPARS, are described in detail. Results are presented for missions including motion and sensing uncertainty, interaction with obstacles, and the use of sensors to guide behavior.
Article Number
1015
Publication Date
3-2013
Recommended Citation
Lyons, Damian M.; Arkin, Ronald C.; Nirmal, Paramesh; Jiang, Shu; and Liu, Tsung-Ming, "A Software Tool for the Design of Critical Robot Missions with Performance Guarantees" (2013). Faculty Publications. 16.
https://research.library.fordham.edu/frcv_facultypubs/16
Comments
Conference on Systems Engineering Research (CSER’13), Atlanta, GA, March 19-22, 2013
This research was conducted at the Fordham University Robotics and Computer Vision Lab. For more information about graduate programs in Computer Science, see http://www.cis.fordham.edu/graduate.html, and the Fordham University Graduate School of Arts and Sciences, see http://www.fordham.edu/gsas.