robotics, formal verification, behavior-based
Computer Engineering | Robotics
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.
Lyons, Damian M.; Arkin, Ron; Jiang, Shu; Liu, Tsungming; and Nirmal, Paramesh, "Performance Verification for Behavior-based Robot Missions" (2015). Faculty Publications. 43.