Towards performance guarantees for emergent behavior

Towards performance guarantees for emergent behavior

It is important to be able to guarantee the safety and effectiveness of robot behavior in applications where robots must operate alongside people or in hazardous situations. A modeling framework based on port automata and asynchronous communication is introduced in this paper. By looking at the inte...

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Bibliographic Details
Published in:IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 Vol. 4; pp. 4153 - 4158 Vol.4
Main Authors: Lyons, D.M., Arkin, R.C.
Format: Conference Proceeding
Language:English
Published: Piscataway NJ IEEE 2004
Subjects:
Application software
Applied sciences
Asynchronous communication
Automata
Automatic control
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Information science
Mobile communication
Mobile robots
Robotics
Robotics and automation
Safety
Wheels
Automaton
Moving robot
Side slip
Modeling
Hazard
Robotics
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Summary:It is important to be able to guarantee the safety and effectiveness of robot behavior in applications where robots must operate alongside people or in hazardous situations. A modeling framework based on port automata and asynchronous communication is introduced in this paper. By looking at the internal transitions between port communications, an analysis approach is developed that removes the combinatoric issues of looking at an asynchronous combination of robot and environment. An example application of the approach to wheel slippage in a mobile robot is presented.
ISBN:9780780382329
0780382323
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1308923