Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty
- Creators
- Braman, Julia M. B.
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Murray, Richard M.
Abstract
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.
Additional Information
© 2008 IEEE. Issue Date : 11-13 June 2008; Date of Current Version : 05 August 2008. The authors would like to gratefully acknowledge Michel Ingham, David Wagner, Robert Rasmussen, and the MDS team at JPL for feedback, suggestions, answered questions, and MDS and State Analysis instruction. This work was funded in part by an NSF graduate fellowship and an AFOSR MURI grant, FA9550-06-1-0303.Attached Files
Published - Braman2008p87382009_American_Control_Conference_Vols_1-9.pdf
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Additional details
- Eprint ID
- 18775
- Resolver ID
- CaltechAUTHORS:20100623-113414565
- NSF Graduate Research Fellowship
- FA9550-06-1-0303
- Air Force Office of Scientific Research (AFOSR)
- Created
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2010-06-24Created from EPrint's datestamp field
- Updated
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2021-11-08Created from EPrint's last_modified field