Degree of Contribution

Lead

Document Type

Article

Keywords

Robotics, Formal Verification, Validation, Behavior-Based

Disciplines

Artificial Intelligence and Robotics | Computer Engineering | Robotics

Abstract

One approach to determining whether an automated system is performing correctly is to monitor its performance, signaling when the performance is not acceptable; another approach is to automatically analyze the possible behaviors of the system a-priori and determine performance guarantees. Thea authors have applied this second approach to automatically derive performance guarantees for behaviorbased, multi-robot critical mission software using an innovative approach to formal verification for robotic software. Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. Several approaches to incorporating pre-existing software into the authors’ probabilistic verification framework are presented, and one used to include Monte- Carlo based localization software. Verification and experimental validation results are discussed for real localization missions with this software, showing that the proposed approach accurately predicts performance.

Publication Title

International Journal of Monitoring and Surveillance Technologies Research (IJMSTR)

Volume

5

Issue

1

Article Number

1067

Publication Date

2017

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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