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 of a real-world environment, will hold within a threshold probability. In this paper we demonstrate its utility for verifying multirobot missions, in particular a bounding overwatch mission.

Authors

• Damian M. Lyons
• Ronald C. Arkin
• Shu D. Jiang
• Dagan Harrington
• T. Liu

Keywords

• Robot sensing systems
• Ports (Computers)
• Software
• Algebra
• Process control
• Probability Threshold
• Performance Guarantees
• Network Process
• Performance Criteria
• State Machine
• Multi-agent Systems
• Discrete Steps
• Almost Surely
• Verification And Validation
• Odometry
• Robot Operating
• Robot Model
• Model Checking
• Confidence Region
• Weapons Of Mass Destruction
• Swarm Robotics
• Mission Success
• Temporal Logic
• Physical Robot
• Dynamic Bayesian Network
• Robot Programming
• Dead Reckoning
• Experimental Validation
• Single Robot
• Random Variables
• Acceptance Probability
• Safety Criteria
• Processing System
• Human Operator
• Chain Sequencing