Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty
Julia M B Braman, Richard M Murray
American Control Conference
Fault tolerance and safety verification of control systems that have state variable estimation uncertainty are essential for the success of autonomous robotic systems. A software control architecture called Mission Data System, developed at the Jet Propulsion Laboratory, uses goal networks as the control program for autonomous systems. Certain types of goal networks can be converted into linear hybrid systems and verified for safety using existing symbolic model checking software. A process for calculating the probability of failure of certain classes of verifiable goal networks due to state estimation uncertainty is presented. A verifiable example task is presented and the failure probability of the control program based on estimation uncertainty is found.
- Preprint: http://www.cds.caltech.edu/~murray/preprints/bm08-acc.pdf