View source for Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty

{{HTDB paper
| authors = Julia M B Braman, Richard M Murray
| title = Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty
| source = American Control Conference
| year = 2008
| type = Preprint
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/bm08-acc.pdf
| abstract = Fault tolerance and safety verification of control systems that have state variable estimation uncertainty are  essential for the success of autonomous robotic systems. A  software control architecture called Mission Data System,  developed at the Jet Propulsion Laboratory, uses goal networks  as the control program for autonomous systems. Certain types  of goal networks can be converted into linear hybrid systems  and verified for safety using existing symbolic model checking  software. A process for calculating the probability of failure of  certain classes of verifiable goal networks due to state estimation  uncertainty is presented. A verifiable example task is presented  and the failure probability of the control program based on 
estimation uncertainty is found. 
| flags = 
| tag = bm08-acc
| id = 2007n
}}