A Software Tool for the Design of Critical Robot Missions with Performance Guarantees

  title={A Software Tool for the Design of Critical Robot Missions with Performance Guarantees},
  author={Damian M. Lyons and Ronald C. Arkin and Prem Nirmal and Shu Jiang and Tsung-Ming Liu},
Deploying a robot as part of a counter-weapons of mass destruction mission demands that the robotic software operates with high assurance. A unique feature of robotic software development is the need to perform predictably in a physical environment that may only be poorly characterized in advance. In this paper, we present an approach to building high assurance software for robot missions carried out in uncertain environments. The software development framework and the verification algorithm… Expand
Automatic Verification of Autonomous Robot Missions
This paper overviews a software system for the verification of behavior-based controllers in context of chosen hardware and environmental models and demonstrates accurate verification for a mission related to the search for a biohazard. Expand
Performance Verification for Behavior-Based Robot Missions
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. 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
Getting it right the first time: Robot mission guarantees in the presence of uncertainty
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. Expand
Verifying and validating multirobot missions
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 ofExpand
9-2014 Verifying and Validating Multirobot Missions
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 ofExpand
SLAM-Based Spatial Memory for Behavior-Based Robots
This paper presents an integration of SLAM into a behavior-based robotic system as a dynamically acquired spatial memory, which can be used to enable new behaviors and augment existing ones. Expand
Getting it Right the First Time: Verification of Behavior-based Multirobot Missions
Position Paper Getting it right the first time: Verification of Behavior-based Multirobot Missions Damian Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington and Matthew O'Brien Dept. Of Computer &Expand
Multiarquitectura distribuida para el desarrollo de misiones multi-robot
La Robotica Autonoma es un campo en rapido crecimiento relacionado con un extenso grupo de lineas de investigacion, como localizacion, tracking, mapping, planificacion de caminos, algoritmos IA,Expand


Designing autonomous robot missions with performance guarantees
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 massExpand
Getting it right the first time: predicted performance guarantees from the analysis of emergent behavior in autonomous and semi-autonomous systems
The scenarios under consideration, the performance measures and metrics being developed, and an outline of the mechanisms for providing performance guarantees for counter-Weapons of Mass Destruction missions are described. Expand
Characterizing Performance Guarantees for Real-Time Multiagent Systems Operating in Noisy and Uncertain Environments
This paper reports on the initial research for the Defense Threat Reduction Agency (DTRA) in understanding what is required from a performance guarantee to give a mission designer the information necessary to understand how well a robot program will perform in a specific environment. Expand
Characterizing performance guarantees for multiagent, real-time systems operating in noisy and uncertain environments
This paper is developing a software framework for verification of performance guarantees for C-WMD missions based on the MissionLab software system and a novel process algebra approach to representing robot programs and operating environments and links this to prior work on metrics for robot performance. Expand
Usability evaluation of high-level user assistance for robot mission specification
The mission-planning wizard has been recently integrated into MissionLab, and testing for usability improvements in terms of speed of the mission planning process, accuracy of the produced mission plans, and ease of use is conducted. Expand
Evaluating the Usability of Robot Programming Toolsets
The issues of evaluating high-level robot programming toolsets as to their usability are examined, including how usability criteria are established and target values are chosen. Expand
An Behavior-based Robotics
  • R. Arkin
  • Computer Science, Engineering
  • 1998
Following a discussion of the relevant biological and psychological models of behavior, the author covers the use of knowledge and learning in autonomous robots, behavior-based and hybrid robot architectures, modular perception, robot colonies, and future trends in robot intelligence. Expand
Motor Schema — Based Mobile Robot Navigation
  • R. Arkin
  • Engineering, Computer Science
  • Int. J. Robotics Res.
  • 1989
A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot and demonstrates the feasibility of this approach. 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
Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle
It is shown that the closed-loop system that results from inclusion of the dynamics of the [proportional--integral--derivative (PID)] speed controllers for each set of wheels does a much better job than the open-loop model of predicting the vehicle linear and angular velocities. Expand