CaltechAUTHORS
Published November 2007 | Published
Book Section - Chapter Open

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

Braman, Julia M. B.
Murray, Richard M. ORCID icon
Wagner, David A.
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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.

Additional Information

© 2007 IEEE. The authors would like to gratefully acknowledge Kenny Meyer for his many efforts in enabling this collaborative work; a special thanks to Michel Ingham for his help with the goal net design; Robert Rasmussen, Matthew Bennett, Mark Indictor, Daniel Dvorak, and the MDS team at JPL for feedback, suggestions, answered questions, and MDS and State Analysis instruction; Jeremy Ma for supplying knowledge and code for the Lu and Milios scan matching algorithm; and Stefano Di Cairano for his help with hybrid systems, Stateflow, and HyTech. This work was funded by NSF and AFOSR.

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Published - Braman2007p87112007_IeeeRsj_International_Conference_On_Intelligent_Robots_And_Systems_Vols_1-9.pdf

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Braman2007p87112007_IeeeRsj_International_Conference_On_Intelligent_Robots_And_Systems_Vols_1-9.pdf

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