GRAVITAS: A model checking based planning and goal reasoning framework for autonomous systems
| Autor: | Martin Oxenham, Zhe Hou, Hadrien Bride, Ryan Green, Jin Song Dong, Brendan Mahony |
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| Přispěvatelé: | Bride, Hadrien, Dong, Jin Song, Green, Ryan, Hou, Zhe, Mahony, Brendan, Oxenham, Martin |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Model checking
0209 industrial biotechnology business.industry Computer science Goal reasoning model-checking 02 engineering and technology Task network 020901 industrial engineering & automation goall reasoning Work (electrical) autonomous systems Artificial Intelligence Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Electrical and Electronic Engineering planning Software engineering business |
| Popis: | This work follow the verification as planning paradigm and propose to use model-checking techniques to solve planning and goal reasoning problems for autonomous systems with high-degree of assurance. It presents a novel modelling framework — Goal Task Network (GTN) that encompass both goal reasoning and planning under a unified formal description that enables the use of assurance tools. The paper provides a systematic method that highlights how an industrial model checker (PAT) can be used to solve goal reasoning and planning problems modelled by GTNs. Further, this paper also introduces the design of an automated system framework for Goal Reasoning And Verification for Independent Trusted Autonomous Systems (GRAVITAS). The proposed framework is demonstrated in an experiment that simulates a survey mission performed by the REMUS-100 autonomous underwater vehicle Refereed/Peer-reviewed |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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