Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4948646 | Robotics and Autonomous Systems | 2017 | 27 Pages |
Abstract
This paper addresses the challenges involved in building a software tool for verifying the behavior of a multi-robot waypoint mission that includes uncertainly located obstacles and uncertain environment geometry as well as uncertainty in robot motion. An approach is presented to the problem of a-priori specification of uncertain environments for robot program verification. Two approaches to modeling probabilistic localization for verification are presented: a high-level approach and an approach that allows run-time localization code to be embedded in verification. Verification and experimental validation results are presented for several autonomous robot missions, demonstrating the accuracy of verification and the mission-specific benefit of localization
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Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
D.M. Lyons, R.C. Arkin, S. Jiang, M. O'Brien, F. Tang, P. Tang,