Performance Verification for Behavior-Based Robot Missions

@article{Lyons2015PerformanceVF,
  title={Performance Verification for Behavior-Based Robot Missions},
  author={Damian M. Lyons and Ronald C. Arkin and Shu Jiang and Tsung-Ming Liu and P. Nirmal},
  journal={IEEE Trans. Robotics},
  year={2015},
  volume={31},
  pages={619-636}
}
Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means that the state space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework… 
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23 Citations
Background Citations
11
Methods Citations
6

23 Citations

Automatic Verification of Autonomous Robot Missions
TLDR
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.
Probabilistic Verification of Multi-robot Missions in Uncertain Environments
TLDR
A novel method to extend the Bayesian Network formulation to reason about random variables with different subpopulations is introduced to address the challenge of representing the effects of multiple sensory histories when verifying a robot mission.
Performance verification for robot missions in uncertain environments
Establishing A-Priori Performance Guarantees for Robot Missions that Include Localization Software
TLDR
The authors have applied this second approach to automatically derive performance guarantees for behavior-based, multi-robot critical mission software using an innovative approach to formal verification for robotic software.
Formal Performance Guarantees for Behavior-Based Localization Missions
TLDR
Two approaches to modeling probabilistic localization for verification are presented: a high-level approach, and a sample-based approach which allows run-time code to be embedded in verification.
Formal performance guarantees for an approach to human in the loop robot missions
TLDR
This work presents a novel approach to modelling the skill level of the operator and integrating it into automatic verification using a linear Gaussians model parameterized by experimental calibration, and demonstrates the effectiveness of this approach by comparing predicated performance to experimentally measured performance.
Formal Performance Guarantees for Human in the Loop Robot Missions *
TLDR
This work presents a novel approach to modelling the skill level of the operator and integrating it into automatic verification using a linear Gaussians model parameterized by experimental calibration, and demonstrates the effectiveness of this approach by comparing predicated performance to experimentally measured performance.
An Analysis of Displays for Probabilistic Robotic Mission Verification Results
TLDR
This paper addresses the step after verification of autonomous behavior-based robotic missions, how to present this information to users, and suggests a different display paradigm.
Analysis and Verification of Complex Robot Systems using Behaviour-Based Control
TLDR
A novel concept for the integration of environmental influences into the model checking process is proposed, where environmental situations and the sensor processing chain are represented as synchronised automata similar to the modelling of the behavioural network.
Evolution of Formal Model-Based Assurance Cases for Autonomous Robots
TLDR
It is demonstrated how evidence of an assurance case can be formalised, and how an assurance cases can be refined using this formalisation to increase argument confidence and to react to changing operational needs.
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