Degree of Contribution

Lead

Document Type

Conference Proceeding

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 only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for behavior-based controllers in a process-algebra framework. We extend that work here to include random variables, and we show how our prior results can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Verification is reduced to a filtering problem for this network. Finally, we present validation results that demonstrate the effectiveness of the verification of a multiple waypoint robot mission using this approach.

Publication Title

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS) 2013, Tokyo, Japan, November 2013.

Article Number

1071

Publication Date

11-2013

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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