Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system

Author

Braman, Julia M B ; Murray, Richard M. ; Wagner, David A.

Author_Institution

California Inst. of Technol., Pasadena

fYear

2007

fDate

Oct. 29 2007-Nov. 2 2007

Firstpage

853

Lastpage

858

Abstract

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. 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 simulated in MDS and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems.

Keywords

control engineering computing; fault tolerant computing; formal verification; robots; HyTech; autonomous robotic system; fault tolerance; goal network control; linear hybrid system; mission data system; safety verification; symbolic model checker; Automata; Automatic control; Control systems; Data systems; Fault tolerant systems; Intelligent robots; Modeling; Propulsion; Robot control; Safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Conference_Location

San Diego, CA

Print_ISBN

978-1-4244-0912-9

Electronic_ISBN

978-1-4244-0912-9

Type

conf

DOI

10.1109/IROS.2007.4399230

Filename

4399230