Probabilistic Safety Analysis of Sensor-Driven Hybrid Automata
Julia M B Braman, Richard M Murray
Hybrid Systems: Computation and Control, 2008 (submitted)
The control programs of complex autonomous systems that have conditional branching can be modeled as linear hybrid systems. When the state knowledge is perfect, linear hybrid systems with state-based transition conditions can be verified against a specified unsafe set using existing model checking software. This paper introduces a formal method for calculating the failure probability due to state estimation uncertainty of these sensor-driven hybrid systems. Problem complexity is described and some reduction techniques for the failure probability calculation are given. An example goal-based control program is given and the failure probability for that system is calculated.
- Preprint: http://www.cds.caltech.edu/~murray/preprints/bm09-hscc_s.pdf