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

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

Distributed Receding Horizon Control with Application to Multi-Vehicle Formation Stabilization

We consider the control of interacting subsystems whose dynamics and constraints are uncoupled, but whose state vectors are coupled non-separably in a single centralized cost function of a finite horizon optimal control problem. For a given centralized cost structure, we generate distributed optimal control problems for each subsystem and establish that the distributed receding horizon implementation is asymptotically stabilizing. The communication requirements between subsystems with coupling in the cost function are that each subsystem obtain the previous optimal control trajectory of those subsystems at each receding horizon update. The key requirements for stability are that each distributed optimal control not deviate too far from the previous optimal control, and that the receding horizon updates happen sufficiently fast. The theory is applied in simulation for stabilization of a formation of vehicles

Model-based estimation of off-highway road geometry using single-axis LADAR and inertial sensing

This paper applies some previously studied extended Kalman filter techniques for planar road geometry estimation to the domain of autonomous navigation of off-highway vehicles. In this work, a clothoid model of the road geometry is constructed and estimated recursively based on road features extracted from single-axis LADAR range measurements. We present a method for feature extraction of the road centerline in the image plane, and describe its application to recursive estimation of the road geometry. We analyze the performance of our method against simulated motion of varied road geometries and against closed-loop detection, tracking and following of desert roads. Our method accomodates full 6 DOF motion of the vehicle as it navigates, constructs consistent estimates of the road geometry with respect to a fixed global reference frame, and requires an estimate of the sensor pose for each range measurement

How likely is an i.i.d. degree sequence to be graphical?

Given i.i.d. positive integer valued random variables D_1,...,D_n, one can ask whether there is a simple graph on n vertices so that the degrees of the vertices are D_1,...,D_n. We give sufficient conditions on the distribution of D_i for the probability that this be the case to be asymptotically 0, {1/2} or strictly between 0 and {1/2}. These conditions roughly correspond to whether the limit of nP(D_i\geq n) is infinite, zero or strictly positive and finite. This paper is motivated by the problem of modeling large communications networks by random graphs.Comment: Published at http://dx.doi.org/10.1214/105051604000000693 in the Annals of Applied Probability (http://www.imstat.org/aap/) by the Institute of Mathematical Statistics (http://www.imstat.org

A program to compute three-dimensional subsonic unsteady aerodynamic characteristics using the doublet lattic method, L216 (DUBFLX). Volume 1: Engineering and usage

The program input presented consists of configuration geometry, aerodynamic parameters, and modal data; output includes element geometry, pressure difference distributions, integrated aerodynamic coefficients, stability derivatives, generalized aerodynamic forces, and aerodynamic influence coefficient matrices. Optionally, modal data may be input on magnetic file (tape or disk), and certain geometric and aerodynamic output may be saved for subsequent use

Neutron--Antineutron Oscillations at the Surface of Nuclei

We discuss some aspects of possible neutron--antineutron oscillations in nuclei. The phenomenon occurs mostly at the surface of nuclei, and hence {\sl i)} is not very sensitive to medium corrections and {\sl ii)} makes use of the antinucleon-nucleus interaction in a region probed by experiments at CERN.Comment: Contr. Oak Ridge Workshop on Workshop on Baryon Instability, Latex, 4 pages, comments to [email protected]

Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system

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 method for converting goal network control programs into linear hybrid systems is developed. The linear hybrid system can then be verified for safety in the presence of failures using existing symbolic model checkers. An example task is simulated in MDS and successfully verified using HyTech, a symbolic model checking software for linear hybrid systems