Control Program Verification for a Sample Titan Aerobot Mission
Julia M B Braman, Richard M Murray
AIAA Infotech@Aerospace Conference and Exhibit, 2009 (submitted)
Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System (MDS), developed at the Jet Propulsion Laboratory, takes a goal-based control approach. A software algorithm for converting goal network control programs into linear hybrid systems exists and is a bisimulation; the resulting linear hybrid system can be verified for safety in the presence of failures using existing symbolic model checkers, and thus the original goal network is verified. A substantial example control program based on a proposed mission to Titan, a moon of Saturn, is converted using the procedures discussed.
- Preprint: http://www.cds.caltech.edu/~murray/preprints/bm09-infotech_s.pdf