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Control Program Verification for a Sample Titan Aerobot Mission
Abstract Fault tolerance and safety verification of …
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.
converted using the procedures discussed.  +
Authors Julia M B Braman, Richard M Murray  +
ID 2008n  +
Source AIAA Infotech@Aerospace Conference and Exhibit, 2009 (submitted)  +
Tag bm09-infotech  +
Title Control Program Verification for a Sample Titan Aerobot Mission +
Type Preprint  +
Categories Papers
Modification date
This property is a special property in this wiki.
15 May 2016 06:16:51  +
URL
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http://www.cds.caltech.edu/~murray/preprints/bm09-infotech_s.pdf  +
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Control Program Verification for a Sample Titan Aerobot Mission + Title
 

 

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