Document Type
Conference Proceeding
Keywords
Robotics, Formal Verification, Validation, Behavior-Based
Disciplines
Artificial Intelligence and Robotics | Computer Engineering | Robotics
Abstract
Abstract— 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. In this paper we apply our MissionLab/VIPARS mission design and verification approach to an autonomous robot mission that uses probabilistic localization software.
Two approaches to modeling probabilistic localization for verification are presented: a high-level approach, and a sample-based approach which allows run-time code to be embedded in verification. Verification and experimental validation results are presented for two different missions, each using each method, demonstrating the accuracy of verification, and both are compared with verification of an odometry-only mission, to show the mission-specific benefit of localization.
Publication Title
IEEE International Conference on Tools with AI, Nov 2016 San Jose CA
Article Number
1068
Publication Date
11-2016
Language
English
Peer Reviewed
1
Recommended Citation
Damian Lyons, Ron Arkin, Shu Jiang, Matthew O'Brien, Feng Tang and Peng Tang, "Formal Performance Guarantees for Behavior-based Localization Missions" IEEE International Conference on Tools with AI, Nov 2016 San Jose CA
Version
Published
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.
