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Mission Planning and Verification for Autonomous Unmanned Aerial Vehicles

Vilzmann, Michael (2016) Mission Planning and Verification for Autonomous Unmanned Aerial Vehicles. DLR-Interner Bericht. DLR-IB-RM-OP-2016-377. Master's. Clausthal University of Technology. 69 S.

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Autonomous robotic systems that work alongside humans or interact with valuable goods impose high demands on safety and fault tolerance. In this work, a robotic architecture is proposed that employs common model checking techniques to ensure the compliance of complex robotic missions with formally specified safety properties. Two formalisms are discussed to describe such mission plans: Hierarchical Finite State Machines and Behaviour Trees. Employing the explicit-state model checker DIVINE and the mission execution framework RAFCON, a tool chain has been developed that facilitates verification of LTL formulae on mission plans specified with either of those methodologies. The proposed system design tries to deal with hardware failures by calculating affected mission building blocks and removing them from the active plan.

Item URL in elib:https://elib.dlr.de/115188/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Mission Planning and Verification for Autonomous Unmanned Aerial Vehicles
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Vilzmann, MichaelMichael.Vilzmann (at) dlr.deUNSPECIFIED
Date:30 April 2016
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:69
Keywords:mission planning, verification, model checking, rafcon, behavior trees, state machines
Institution:Clausthal University of Technology
Department:Department of Informatics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Vilzmann, Michael
Deposited On:20 Nov 2017 19:00
Last Modified:15 Dec 2017 12:23

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