Degree of Contribution

Lead

Document Type

Article

Keywords

Robotics, Formal Verification, Validation, Behavior-Based

Disciplines

Artificial Intelligence and Robotics | Computer Engineering | Robotics

Abstract

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.

Index Terms— Program Verification, Autonomous Agents, Behavior-based Systems, Control Architectures and Programming.

Publication Title

Robotics & Autonomous Systems

Volume

98

Article Number

1066

Publication Date

2017

First Page

89

Last Page

104

Language

English

Peer Reviewed

1

Version

Published

Creative Commons License

Creative Commons Attribution 4.0 License
This work is licensed under a Creative Commons Attribution 4.0 License.

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