Corpus ID: 171091415

9-2014 Verifying and Validating Multirobot Missions

  title={9-2014 Verifying and Validating Multirobot Missions},
  author={D. Lyons},
We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions of a real-world environment, will hold within a threshold probability. In this paper we demonstrate its utility for verifying multirobot missions, in particular a bounding overwatch mission. 


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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… Expand
A Software Tool for the Design of Critical Robot Missions with Performance Guarantees
The software development framework and the verification algorithm, VIPARS, are described in detail and results are presented for missions including motion and sensing uncertainty, interaction with obstacles, and the use of sensors to guide behavior. Expand
Performance guarantees for C-WMD robot missions
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. Expand
Towards performance guarantees for emergent behavior
  • D. Lyons, R. Arkin
  • Engineering, Computer Science
  • IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
  • 2004
A modeling framework based on port automata and asynchronous communication is introduced and an analysis approach is developed that removes the combinatoric issues of looking at an asynchronous combination of robot and environment. Expand
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. Expand
Bounding overwatch operations for robotic and semi-robotic ground vehicles
The coordination of teams of ground vehicles is a critical problem for many military operations. When moving in teams through enemy territory, one of the more important operations is that of the… Expand
Multiagent Mission Specification and Execution
The Configuration Description Language (CDL) is developed to capture the recursive composition of configurations in an architecture- and robot-independent fashion and the Societal Agent theory is presented as a basis for constructions of this form. Expand
Safety verification and failure analysis of goal-based hybrid control systems
Two significant example goal network control programs, one for a complex rover and another for a proposed aerobot mission to Titan, a moon of Saturn, are verified using the three novel verification methods presented. Expand
A compositional framework for programming stochastically interacting robots
This work model robot behavior as a stochastic process and express concurrency and program composition using simple operations, showing how composition and other operations on programs can be used to specify increasingly complex behaviors of multi-robot systems. Expand