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

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dc.contributor.author Braman, Julia M. B.
dc.contributor.author Murray, Richard M
dc.contributor.author Wagner, David A.
dc.date.accessioned 2010-04-29T15:12:30Z
dc.date.available 2010-04-29T15:12:30Z
dc.date.issued 2007-10-29
dc.identifier.citation IEEE/RSJ International Conference on Intelligent Robots adn Systems (IROS), San Diego, CA, Oct. 29, 2007 en_US
dc.identifier.clearanceno 07-3644
dc.identifier.uri http://hdl.handle.net/2014/41562
dc.description.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. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2007. en_US
dc.subject goal network en_US
dc.subject verification en_US
dc.subject goal based control en_US
dc.title Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system en_US
dc.type Preprint en_US


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