mobile robots, performance guarantees, formal properties, verification, robot programming
Computer Engineering | Robotics
This paper describes the need and methods required to construct an integrated software verification and mission specification system for use in robotic missions intended for counter-weapons of mass destruction (c-WMD) operations, as part of a 3-year effort for the Defense Threat Reduction Agency. The overall system architecture is described. The principal tool for verification is a process algebra, PARS, based on port automata theory. PARS is introduced, emphasizing its ability to represent probabilistic programs and uncertain and dynamic environments, followed by the analysis of mission properties for an example robotic mission.
Lyons, Damian M.; Arkin, Ronald; Nirmal, Prem; and Jiang, Shu, "Designing Autonomous Robot Missions with Performance Guarantees" (2012). Faculty Publications. 3.
Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Algarve, PT, October 2012
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.