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Verifying Performance for Autonomous Robot Missions with Uncertainty
This work proposes an approach to verifying robot missions that shifts the focus from state-based analysis onto the solution of a set of flow equations (Lyons et al. 2012), and presents three validation results that show this approach has strong predictive power; that is, that the verifications it produces can be trusted.
Leveraging area bounds information for autonomous decentralized multi-robot exploration
Performance Verification for Behavior-Based Robot Missions
- D. Lyons, R. Arkin, Shu Jiang, Tsung-Ming Liu, P. Nirmal
- Computer ScienceIEEE Trans. Robotics
- 20 May 2015
An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here, and verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian network.
Getting it right the first time: Robot mission guarantees in the presence of uncertainty
- D. Lyons, R. Arkin, P. Nirmal, Shu Jiang, Tsung-Ming Liu, J. Deeb
- Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 1 November 2013
This work extends an approach to establishing performance guarantees for behavior-based controllers in a process-algebra framework to include random variables, and shows how this work can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model.
A Software Tool for the Design of Critical Robot Missions with Performance Guarantees
Fusion of ranging data from robot teams operating in confined areas
The problem of fusing laser ranging data from multiple mobile robots that are surveying an area as part of a robot search and rescue or area surveillance mission, specifically in the case where members of the robot team are working in close proximity to each other is addressed.
Leveraging Area Bounds Information for Autonomous Multirobot Exploration
The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored to allow a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multirobot scenarios while avoiding potential minima.
Performance guarantees for C-WMD robot missions
- Shu Jiang, R. Arkin, D. Lyons, Tsung-Ming Liu, D. Harrington
- Computer ScienceIEEE International Symposium on Safety, Security…
- 1 October 2013
A novel verification framework in providing performance guarantees for behavior-based and probabilistic robot algorithms in complex real-world environments in order to ensure robots' success in carrying out C-WMD missions.