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Conversion and Verification Procedure for Goal-Based Control Programs
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, developed at the Jet Propulsion Laboratory, takes a goal-based control approach. In this paper, a method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is developed and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems.
ecking software for linear hybrid systems.  +
Authors Julia M B Braman, Richard M Murray  +
ID 2007u  +
Source CDS Technical Report, California Institute of Technology  +
Tag bm07-cds  +
Title Conversion and Verification Procedure for Goal-Based Control Programs +
Type Preprint  +
Categories Papers
Modification date
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15 May 2016 06:17:08  +
URL
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http://www.cds.caltech.edu/~murray/preprints/bm07-cds.pdf  +
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Conversion and Verification Procedure for Goal-Based Control Programs + Title
 

 

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