Model Checking of a Flapping-Wing Mirco-Air-Vehicle Trajectory Tracking Controller Subject to Disturbances

Goppert, James; Gallagher, John C.; Hwang, Inseok; Matson, Eric T.

doi:10.1007/978-3-319-05582-4_46

Cited by 6 publications

(1 citation statement)

References 7 publications

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“…Konur et al [23] proposed a probabilistic model checking for a swarm robots. Goppert et al [24] modeled a flapping-wings micro air vehicle (FWMAV) using polyhedral invariant hybrid automation (PIHA) to check if the vehicle could accomplish the mission with unpredictable turbulence. Kim et al [25] proposed a training procedure of a humanoid soccer robot and verified the procedure using a model checker, which named 'NuSMV' [26].…”

Section: Model Verification In Roboticsmentioning

confidence: 99%

An Adaptive Goal-Based Model for Autonomous Multi-Robot Using HARMS and NuSMV

Kim

Jung

Gallagher

et al. 2016

IJFIS

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In a dynamic environment autonomous robots often encounter unexpected situations that the robots have to deal with in order to continue proceeding their mission. We propose an adaptive goal-based model that allows cyber-physical systems (CPS) to update their environmental model and helps them analyze for attainment of their goals from current state using the updated environmental model and its capabilities. Information exchange approach utilizes HumanAgent-Robot-Machine-Sensor (HARMS) model to exchange messages between CPS. Model validation method uses NuSMV, which is one of Model Checking tools, to check whether the system can continue its mission toward the goal in the given environment. We explain a practical set up of the model in a situation in which homogeneous robots that has the same capability work in the same environment.

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