Probabilistic model checking of robots deployed in extreme environments

Xingyu Zhao, Valentin Robu, David Flynn, Fateme Dinmohammadi, Michael Fisher, Matt Webster

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

11 Citations (Scopus)

Abstract

Robots are increasingly used to carry out critical missions in extreme environments that are hazardous for humans. This requires a high degree of operational autonomy under uncertain conditions, and poses new challenges for assuring the robot's safety and reliability. In this paper, we develop a framework for probabilistic model checking on a layered Markov model to verify the safety and reliability requirements of such robots, both at pre-mission stage and during runtime. Two novel estimators based on conservative Bayesian inference and imprecise probability model with sets of priors are introduced to learn the unknown transition parameters from operational data. We demonstrate our approach using data from a real-world deployment of unmanned underwater vehicles in extreme environments.

Original languageEnglish
Title of host publication33rd AAAI Conference on Artificial Intelligence, AAAI 2019, 31st Innovative Applications of Artificial Intelligence Conference, IAAI 2019 and the 9th AAAI Symposium on Educational Advances in Artificial Intelligence, EAAI 2019
PublisherAmerican Association for Artificial Intelligence (AAAI)
Pages8066-8074
Number of pages9
ISBN (Electronic)9781577358091
Publication statusPublished - 1 Jan 2019
Externally publishedYes
Event33rd AAAI Conference on Artificial Intelligence, AAAI 2019, 31st Annual Conference on Innovative Applications of Artificial Intelligence, IAAI 2019 and the 9th AAAI Symposium on Educational Advances in Artificial Intelligence, EAAI 2019 - Honolulu, United States
Duration: 27 Jan 20191 Feb 2019

Publication series

Name33rd AAAI Conference on Artificial Intelligence, AAAI 2019, 31st Innovative Applications of Artificial Intelligence Conference, IAAI 2019 and the 9th AAAI Symposium on Educational Advances in Artificial Intelligence, EAAI 2019

Conference

Conference33rd AAAI Conference on Artificial Intelligence, AAAI 2019, 31st Annual Conference on Innovative Applications of Artificial Intelligence, IAAI 2019 and the 9th AAAI Symposium on Educational Advances in Artificial Intelligence, EAAI 2019
CountryUnited States
CityHonolulu
Period27/01/191/02/19

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