Conversion and Verification Procedure for Goal-Based Control Programs

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.

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Document Details

Document Type
Technical Report
Publication Date
Aug 15, 2007
Accession Number
ADA471257

Entities

People

  • Julia M. Braman
  • Richard M. Murray

Organizations

  • California Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Sensors

DTIC Thesaurus Topics

  • Automata
  • Complex Systems
  • Control Systems
  • Conversion
  • Engineering
  • Equations
  • Estimators
  • Failure Mode And Effect Analysis
  • Fault Tolerance
  • Hybrid Systems
  • Jet Propulsion
  • Simulations
  • Supervisory Control
  • Systems Engineering
  • Verification

Fields of Study

  • Computer science
  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Database Systems and Applications
  • Software Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Autonomy - Autonomous System Control