Document Type
Article
Disciplines
Computer Engineering | Robotics
Abstract
Certain robot missions need to perform predictably in a physical en-vironment that may only be poorly characterized in advance. This requirement raises many issues for existing approaches to software verification. An approach based on behavior-based controllers in a process-algebra framework is proposed by Lyons et al [15] to side-step state combinatorics. In this paper we show that this approach can be used to generate a Dynamic Bayesian Network for the problem, and that verification is reduced to a filtering problem for this network. We present validation results for the verification of a multiple waypoint robot mission using this approach.
Article Number
1013
Publication Date
5-2013
Recommended Citation
Lyons, Damian M.; Arkin, Ronald; Jiang, Shu; Liu, Tsung-Ming; Nirmal, Paramesh; and Deeb, J., "Performance Verification for Behavior-based Robot Missions" (2013). Faculty Publications. 14.
https://research.library.fordham.edu/frcv_facultypubs/14
Comments
AAMAS ARMS 2013 Workshop on Autonomous Robotics and Multirobot Systems, St. Paul MN, May 6-10 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.