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Erschienen in:
2014 | OriginalPaper | Buchkapitel
Automatic Verification of Autonomous Robot Missions
verfasst von : Matthew O’Brien, Ronald C. Arkin, Dagan Harrington, Damian Lyons, Shu Jiang
Erschienen in: Simulation, Modeling, and Programming for Autonomous Robots
Verlag: Springer International Publishing
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Before autonomous robotics can be used for dangerous or critical missions, performance guarantees should be made available. This paper overviews a software system for the verification of behavior-based controllers in context of chosen hardware and environmental models. Robotic controllers are automatically translated to a process algebra. The system comprising both the robot and the environment are then evaluated by VIPARS, a verification software module in development, and compared to specific performance criteria. The user is returned a probability that the performance criteria will hold in the uncertainty of real-world conditions. Experimental results demonstrate accurate verification for a mission related to the search for a biohazard.