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

  title={Getting it right the first time: Robot mission guarantees in the presence of uncertainty},
  author={Damian M. Lyons and Ronald C. Arkin and Prem Nirmal and Shu Jiang and Tsung-Ming Liu and J. Deeb},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  • D. Lyons, R. Arkin, +3 authors J. Deeb
  • Published 2013
  • Computer Science
  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
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… Expand
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