A navigation strategy for an autonomous patrol vehicle based on multi-fusion planning algorithms and multi-paradigm representation schemes

Zaki, Osama; Dunnigan, Matthew W.

doi:10.1016/j.robot.2017.07.012

Cited by 14 publications

(2 citation statements)

References 15 publications

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“…Though commonly used, testing and simulation alone are insufficient to ensure the correctness of, or provide sufficient evidence for the certification of, autonomous robotics [60,61]. Verification and validation are usually carried out during and after the requirements/design and implementation stages [62]. Some of those testing methods are manual, semi-automated, or fully automated.…”

Section: Analysis and Resultsmentioning

confidence: 99%

Reliability and Safety of Autonomous Systems Based on Semantic Modelling for Self-Certification

et al. 2021

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A novel modelling paradigm for online diagnostics and prognostics for autonomous systems is presented. A model for the autonomous system being diagnosed is designed using a logic-based formalism. The model supports the run-time ability to verify that the autonomous system is safe and reliable for operation within a dynamic environment. The paradigm is based on the philosophy that there are different types of semantic relationships between the states of different parts of the system. A finite state automaton is devised for each sensed component and some of the non-sensed components. To capture the interdependencies of components within such a complex robotic platform, automatons were related to each other by semantic relationships. Modality was utilised by the formalism to abstract the relationships and to add measures for the possibility and uncertainty of the relationships. The complexity of the model was analysed to evaluate its scalability and applicability to other systems. The results demonstrate that the complexity is not linear and a computational time of 10 ms was required to achieve run-time diagnostics for 2200 KB of knowledge for complex system interdependences. The ability to detect and mitigate hardware related failures was demonstrated within a confined space autonomous operation. Our findings provide evidence of the applicability of our approach for the significant challenge of run-time safety compliance and reliability in autonomous systems.

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Section: Analysis and Resultsmentioning

confidence: 99%

Reliability and Safety of Autonomous Systems Based on Semantic Modelling for Self-Certification

et al. 2021

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“…Therefore, the bounding overwatch path planning problem can be generalized to an outdoor path planning problem. Some outdoor path planning works deal with the robot traversability problem by using geological information [5,[7][8][9]. These model a cost map or a cost function with the geological terrain height information.…”

Section: Introductionmentioning

confidence: 99%

Bayesian Optimization Based Trustworthiness Model for Multi-robot Bounding Overwatch

Zheng¹,

Smereka²,

Mikluski³

et al. 2022

Preprint

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In multi-robot system (MRS) bounding overwatch, it is crucial to determine which point to choose for overwatch at each step and whether the robots' positions are trustworthy so that the overwatch can be performed effectively. In this paper, we develop a Bayesian optimization based computational trustworthiness model (CTM) for the MRS to select overwatch points. The CTM can provide real-time trustworthiness evaluation for the MRS on the overwatch points by referring to the robots' situational awareness information, such as traversability and line of sight. The evaluation can quantify each robot's trustworthiness in protecting its robot team members during the bounding overwatch. The trustworthiness evaluation can generate a dynamic cost map for each robot in the workspace and help obtain the most trustworthy bounding overwatch path. Our proposed Bayesian based CTM and motion planning can reduce the number of explorations for the workspace in data collection and improve the CTM learning efficiency. It also enables the MRS to deal with the dynamic and uncertain environments for the multi-robot bounding overwatch task. A robot simulation is implemented in ROS Gazebo to demonstrate the effectiveness of the proposed framework.

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Integration of BIM and GIS for Construction Automation, a Systematic Literature Review (SLR) Combining Bibliometric and Qualitative Analysis

Karimi

Iordanova

2021

Arch Computat Methods Eng

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A navigation strategy for an autonomous patrol vehicle based on multi-fusion planning algorithms and multi-paradigm representation schemes

Cited by 14 publications

References 15 publications

Reliability and Safety of Autonomous Systems Based on Semantic Modelling for Self-Certification

Reliability and Safety of Autonomous Systems Based on Semantic Modelling for Self-Certification

Bayesian Optimization Based Trustworthiness Model for Multi-robot Bounding Overwatch

Integration of BIM and GIS for Construction Automation, a Systematic Literature Review (SLR) Combining Bibliometric and Qualitative Analysis

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