Reference Hub1
Establishing A-Priori Performance Guarantees for Robot Missions that Include Localization Software

Establishing A-Priori Performance Guarantees for Robot Missions that Include Localization Software

Damian Lyons, Ronald C. Arkin, Shu Jiang, Matthew J. O'Brien, Feng Tang, Peng Tang
Copyright: © 2017 |Volume: 5 |Issue: 1 |Pages: 22
ISSN: 2166-7241|EISSN: 2166-725X|EISBN13: 9781522515494|DOI: 10.4018/IJMSTR.2017010103
Cite Article Cite Article

MLA

Lyons, Damian, et al. "Establishing A-Priori Performance Guarantees for Robot Missions that Include Localization Software." IJMSTR vol.5, no.1 2017: pp.49-70. http://doi.org/10.4018/IJMSTR.2017010103

APA

Lyons, D., Arkin, R. C., Jiang, S., O'Brien, M. J., Tang, F., & Tang, P. (2017). Establishing A-Priori Performance Guarantees for Robot Missions that Include Localization Software. International Journal of Monitoring and Surveillance Technologies Research (IJMSTR), 5(1), 49-70. http://doi.org/10.4018/IJMSTR.2017010103

Chicago

Lyons, Damian, et al. "Establishing A-Priori Performance Guarantees for Robot Missions that Include Localization Software," International Journal of Monitoring and Surveillance Technologies Research (IJMSTR) 5, no.1: 49-70. http://doi.org/10.4018/IJMSTR.2017010103

Export Reference

Mendeley
Favorite Full-Issue Download

Abstract

One approach to determining whether an automated system is performing correctly is to monitor its performance, signaling when the performance is not acceptable; another approach is to automatically analyze the possible behaviors of the system a-priori and determine performance guarantees. Thea 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. Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. Several approaches to incorporating pre-existing software into the authors' probabilistic verification framework are presented, and one used to include Monte-Carlo based localization software. Verification and experimental validation results are discussed for real localization missions with this software, showing that the proposed approach accurately predicts performance.

Request Access

You do not own this content. Please login to recommend this title to your institution's librarian or purchase it from the IGI Global bookstore.