Computer Engineering | Robotics
Certain robot missions need to perform predictably in a physical en-vironment that may only be poorly characterized in advance. This requirement raises many issues for existing approaches to software verification. An approach based on behavior-based controllers in a process-algebra framework is proposed by Lyons et al  to side-step state combinatorics. In this paper we show that this approach can be used to generate a Dynamic Bayesian Network for the problem, and that verification is reduced to a filtering problem for this network. We present validation results for the verification of a multiple waypoint robot mission using this approach.
Lyons, Damian M.; Arkin, Ronald; Jiang, Shu; Liu, Tsung-Ming; Nirmal, Paramesh; and Deeb, J., "Performance Verification for Behavior-based Robot Missions" (2013). Faculty Publications. 14.