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 mass destruction (c-WMD) operations, as part of a 3-year effort for the Defense Threat Reduction Agency. The overall system architecture is described. The principal tool for verification is a process algebra, PARS, based on port automata theory. PARS is introduced, emphasizing its ability to represent probabilistic programs and uncertain and dynamic environments, followed by the analysis of mission properties for an example robotic mission.

DOI: 10.1109/IROS.2012.6385952

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@article{Lyons2012DesigningAR, title={Designing autonomous robot missions with performance guarantees}, author={Damian M. Lyons and Ronald C. Arkin and P. Nirmal and Shu Jiang}, journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2012}, pages={2583-2590} }