Supervisory control of a class of discrete event processes
SIAM Journal on Control and Optimization
A framework for modeling and verifying visually guided agents: design, analysis and experiments
A framework for modeling and verifying visually guided agents: design, analysis and experiments
Model checking
An Behavior-based Robotics
High-Integrity System Specification and Design
High-Integrity System Specification and Design
Robot Teams: From Diversity to Polymorphism
Robot Teams: From Diversity to Polymorphism
Multiagent Mission Specification and Execution
Autonomous Robots
ACM Computing Surveys (CSUR)
Performance Evaluation and Benchmarking of Intelligent Systems
Performance Evaluation and Benchmarking of Intelligent Systems
Usability evaluation of high-level user assistance for robot mission specification
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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Autonomous robots offer the potential to conduct Counter-Weapons of Mass Destruction (C-WMD) missions in an efficient and robust manner. However, to leverage this potential, a mission designer needs to be able to determine how well a robot system will operate in the noisy and uncertain environments that a C-WMD mission may require. We are developing a software framework for verification of performance guarantees for C-WMD missions based on the MissionLab software system and a novel process algebra approach to representing robot programs and operating environments. In this paper, we report on our initial research for the Defense Threat Reduction Agency (DTRA) in understanding what is required from a performance guarantee to give a mission designer the information necessary to understand how well a robot program will perform in a specific environment. We link this to prior work on metrics for robot performance. Using a simple mission scenario, we explore the implications of uncertainty in the four components of the problem: the robot program, and the sensors, actuators and environment with which the program is executed.