Performance guarantees for C-WMD robot missions

  title={Performance guarantees for C-WMD robot missions},
  author={Shu Jiang and Ronald C. Arkin and Damian M. Lyons and Tsung-Ming Liu and Dagan Harrington},
  journal={2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
  • Shu Jiang, R. Arkin, +2 authors D. Harrington
  • Published 2013
  • Computer Science
  • 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Robotics has been considered as one of the five key technology areas for defense against attacks with weapons of mass destruction (WMD). However, due to the mass impact nature of WMD, failures of counter-WMD (C-WMD) missions can have catastrophic consequences. To ensure robots' success in carrying out C-WMD missions, we have developed a novel verification framework in providing performance guarantees for behavior-based and probabilistic robot algorithms in complex real-world environments. This… Expand
Automatic Verification of Autonomous Robot Missions
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. Expand
9-2014 Verifying and Validating Multirobot Missions
We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions ofExpand
Verifying and validating multirobot missions
We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions ofExpand
Stochastic hybrid systems modeling and performance verification of behavior-based robots
This work proposes a formal model for BBR using a discrete-time controlled stochastic hybrid system (dt-cSHS) framework, and modeling and verification procedures are illustrated by examples of BBR applications. Expand
Getting it Right the First Time: Verification of Behavior-based Multirobot Missions
Position Paper Getting it right the first time: Verification of Behavior-based Multirobot Missions Damian Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington and Matthew O'Brien Dept. Of Computer &Expand
Multiarquitectura distribuida para el desarrollo de misiones multi-robot
La Robotica Autonoma es un campo en rapido crecimiento relacionado con un extenso grupo de lineas de investigacion, como localizacion, tracking, mapping, planificacion de caminos, algoritmos IA,Expand


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 massExpand
A Software Tool for the Design of Critical Robot Missions with Performance Guarantees
The software development framework and the verification algorithm, VIPARS, are described in detail and results are presented for missions including motion and sensing uncertainty, interaction with obstacles, and the use of sensors to guide behavior. Expand
Getting it right the first time: predicted performance guarantees from the analysis of emergent behavior in autonomous and semi-autonomous systems
The scenarios under consideration, the performance measures and metrics being developed, and an outline of the mechanisms for providing performance guarantees for counter-Weapons of Mass Destruction missions are described. Expand
Verifying Performance for Autonomous Robot Missions with Uncertainty
This work proposes an approach to verifying robot missions that shifts the focus from state-based analysis onto the solution of a set of flow equations (Lyons et al. 2012), and presents three validation results that show this approach has strong predictive power; that is, that the verifications it produces can be trusted. Expand
Getting it right the first time: Robot mission guarantees in the presence of uncertainty
This work extends an approach to establishing performance guarantees for behavior-based controllers in a process-algebra framework to include random variables, and shows how this work can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Expand
Automatic Deployment of Robotic Teams
A major goal in robot motion planning and control is to be able to specify a task in a high-level, expressive language and have the robot(s) to automatically convert the specification into a set ofExpand
Temporal logic control in dynamic environments with probabilistic satisfaction guarantees
This work derives a solution to the automatic deployment of a robot from a temporal logic specification assuming three different levels of knowledge and sensing capabilities of the robot, and describes an optimal solution in one setting and sub-optimal, reactive solutions in the other two. Expand
Test arenas and performance metrics for urban search and rescue robots
In this paper, we discuss the development and proliferation of robot test arenas that provide tangible, realistic, and challenging environments for mobile robot researchers interested in urban searchExpand
Temporal Logic Motion Planning and Control With Probabilistic Satisfaction Guarantees
We describe a computational framework for automatic deployment of a robot with sensor and actuator noise from a temporal logic specification over a set of properties that are satisfied by the regionsExpand
Towards automatic verification of autonomous systems
  • R. Simmons, C. Pecheur, G. Srinivasan
  • Computer Science
  • Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)
  • 2000
Tools that automatically convert autonomy software into formal models that are then verified using model checking are described, to create tools that enable engineers and roboticists to use formal verification as part of the normal software development cycle. Expand