Getting it right the first time: Robot mission guarantees in the presence of uncertainty

@article{Lyons2013GettingIR,
  title={Getting it right the first time: Robot mission guarantees in the presence of uncertainty},
  author={Damian M. Lyons and Ronald C. Arkin and P. Nirmal and Shu Jiang and Tsung-Ming Liu and J. Deeb},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={5292-5299}
}
Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for behavior-based controllers in a process-algebra framework. We extend that work here to include random variables, and we show how our prior results can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Verification is reduced to a… CONTINUE READING

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