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Full-Text Articles in Computer Engineering
Designing Autonomous Robot Missions With Performance Guarantees, Damian M. Lyons, Ronald Arkin, Prem Nirmal, Shu Jiang
Designing Autonomous Robot Missions With Performance Guarantees, Damian M. Lyons, Ronald Arkin, Prem Nirmal, Shu Jiang
Faculty Publications
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 mass destruction (c-WMD) operations, as part of a 3-year effort for the Defense Threat Reduction Agency. The overall system architecture is described. The principal tool for verification is a process algebra, PARS, based on port automata theory. PARS is introduced, emphasizing its ability to represent probabilistic programs and uncertain and dynamic environments, followed by the analysis of mission properties for an example robotic mission.
Getting It Right The First Time: Predicted Performance Guarantees From The Analysis Of Emergent Behavior In Autonomous And Semi-Autonomous Systems, Ronald C. Arkin, Damian M. Lyons, Shu Jiang, Prem Nirmal, Munzir Zafar
Getting It Right The First Time: Predicted Performance Guarantees From The Analysis Of Emergent Behavior In Autonomous And Semi-Autonomous Systems, Ronald C. Arkin, Damian M. Lyons, Shu Jiang, Prem Nirmal, Munzir Zafar
Faculty Publications
A crucially important aspect for mission-critical robotic operations is ensuring as best as possible that an autonomous system be able to complete its task. In a project for the Defense Threat Reduction Agency (DTRA) we are developing methods to provide such guidance, specifically for counter-Weapons of Mass Destruction (C-WMD) missions. In this paper, we describe the scenarios under consideration, the performance measures and metrics being developed, and an outline of the mechanisms for providing performance guarantees.