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Conversion and verification procedure for goal-based control programs

Braman, J. M. B. and Murray, R. M. (2007) Conversion and verification procedure for goal-based control programs. California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:2007.001

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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.


Item Type:Report or Paper (Technical Report)
Additional Information:The authors would like to gratefully acknowledge Kenny Meyer for his many efforts in enabling this collaborative work; a special thanks to Michel Ingham for his help with the goal net design; David Wagner, Robert Rasmussen, Matthew Bennett, Mark Indictor, Daniel Dvorak, and the MDS team at JPL for feedback, suggestions, answered questions, and MDS and State Analysis instruction; and Stefano Di Cairano for his help with hybrid systems, Stateflow, and HyTech. This work was funded by NSF and AFOSR.
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:2007.001
Persistent URL:http://resolver.caltech.edu/CaltechCDSTR:2007.001
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28113
Collection:CaltechCDSTR
Deposited By: Imported from CaltechCDSTR
Deposited On:16 Aug 2007
Last Modified:26 Dec 2012 14:30

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