Automatic Conversion Software for the Safety Verification of Goal-Based Control Programs
Julia M B Braman, Richard M Murray
International Conference on Software Engineering, 2009 (submitted)
Fault 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 software algorithm for converting goal network control programs into linear hybrid systems is described. The conversion process is a bisimulation; the resulting linear hybrid system can be verified for safety in the presence of failures using existing symbolic model checkers, and thus the original goal network is verified. A moderately complex goal network control program is converted to a linear hybrid system using the automatic conversion software and then verified.
- Preprint: http://www.cds.caltech.edu/~murray/preprints/bm09-icse s.pdf