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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