Published August 17, 2007
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Conversion and verification procedure for goal-based control programs
- Creators
- Braman, J. M. B.
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Murray, R. M.
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, 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.
Additional Information
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; David Wagner, 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; and Stefano Di Cairano for his help with hybrid systems, Stateflow, and HyTech. This work was funded by NSF and AFOSR.Files
BramanTech07.pdf
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Additional details
- Eprint ID
- 28113
- Resolver ID
- CaltechCDSTR:2007.001
- Created
-
2007-08-16Created from EPrint's datestamp field
- Updated
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2019-10-03Created from EPrint's last_modified field
- Caltech groups
- Control and Dynamical Systems Technical Reports