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Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-Based Robotic Control SystemFault 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.
Document ID
20100017725
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Braman, Julia M. B.
(California Inst. of Tech. Pasadena, CA, United States)
Murray, Richard M
(California Inst. of Tech. Pasadena, CA, United States)
Wagner, David A.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
October 29, 2007
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Location: San Diego, CA
Country: United States
Start Date: October 29, 2007
Distribution Limits
Public
Copyright
Other
Keywords
goal network
goal based control
verification

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