TY - GEN
T1 - Formal verification of robotic behaviors in presence of bounded uncertainties
AU - Sandretto, Julien Alexandre Dit
AU - Chapoutot, Alexandre
AU - Mullier, Olivier
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/5/11
Y1 - 2017/5/11
N2 - Robotic behaviors are mainly described by differential equations. Those mathematical models are usually not precise enough because of inaccurately known parameters or model simplifications. Nevertheless, robots are often used in critical contexts as medical or military fields. So, uncertainties in mathematical models have to be taken into account in order to produce reliable and safe analysis results. A framework based on interval analysis is proposed to safely verify and analyze robotic behaviors with bounded uncertainties. It follows an interval constraint programming approach, combined with validated numerical integration methods to deal with differential equations. A case study on robust path planning is presented to emphasize the efficiency of the complete framework.
AB - Robotic behaviors are mainly described by differential equations. Those mathematical models are usually not precise enough because of inaccurately known parameters or model simplifications. Nevertheless, robots are often used in critical contexts as medical or military fields. So, uncertainties in mathematical models have to be taken into account in order to produce reliable and safe analysis results. A framework based on interval analysis is proposed to safely verify and analyze robotic behaviors with bounded uncertainties. It follows an interval constraint programming approach, combined with validated numerical integration methods to deal with differential equations. A case study on robust path planning is presented to emphasize the efficiency of the complete framework.
KW - Constraint satisfaction problems
KW - Interval analysis
KW - Validated numerical integration
U2 - 10.1109/IRC.2017.17
DO - 10.1109/IRC.2017.17
M3 - Conference contribution
AN - SCOPUS:85020175949
T3 - Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
SP - 81
EP - 88
BT - Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st IEEE International Conference on Robotic Computing, IRC 2017
Y2 - 10 April 2017 through 12 April 2017
ER -