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Towards integrating formal verification of autonomous robots with battery prognostics and health management
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Zhao, Xingyu, Osborne, Matt, Lantair, Jenny, Robu, Valentin, Flynn, David, Huang, Xiaowei, Fisher, Michael, Papacchini, Fabio and Ferrando, Angelo (2019) Towards integrating formal verification of autonomous robots with battery prognostics and health management. In: 17th International Conference, SEFM 2019, Oslo, Norway, 18–20 Sep 2019. Published in: Software Engineering and Formal Methods. SEFM 2019., 11724 pp. 105-124. ISBN 9783030304454. doi:10.1007/978-3-030-30446-1_6 ISSN 0302-9743.
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Official URL: http://dx.doi.org/10.1007/978-3-030-30446-1_6
Abstract
The battery is a key component of autonomous robots. Its performance limits the robot’s safety and reliability. Unlike liquid-fuel, a battery, as a chemical device, exhibits complicated features, including (i) capacity fade over successive recharges and (ii) increasing discharge rate as the state of charge (SOC) goes down for a given power demand. Existing formal verification studies of autonomous robots, when considering energy constraints, formalise the energy component in a generic manner such that the battery features are overlooked. In this paper, we model an unmanned aerial vehicle (UAV) inspection mission on a wind farm and via probabilistic model checking in PRISM show (i) how the battery features may affect the verification results significantly in practical cases; and (ii) how the battery features, together with dynamic environments and battery safety strategies, jointly affect the verification results. Potential solutions to explicitly integrate battery prognostics and health management (PHM) with formal verification of autonomous robots are also discussed to motivate future work.
Item Type: | Conference Item (Paper) | ||||||
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||
Series Name: | Lecture Notes in Computer Science | ||||||
Journal or Publication Title: | Software Engineering and Formal Methods. SEFM 2019. | ||||||
Publisher: | Springer | ||||||
ISBN: | 9783030304454 | ||||||
ISSN: | 0302-9743 | ||||||
Book Title: | Software Engineering and Formal Methods | ||||||
Official Date: | 9 September 2019 | ||||||
Dates: |
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Volume: | 11724 | ||||||
Page Range: | pp. 105-124 | ||||||
DOI: | 10.1007/978-3-030-30446-1_6 | ||||||
Status: | Peer Reviewed | ||||||
Publication Status: | Published | ||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||
Conference Paper Type: | Paper | ||||||
Title of Event: | 17th International Conference, SEFM 2019 | ||||||
Type of Event: | Conference | ||||||
Location of Event: | Oslo, Norway | ||||||
Date(s) of Event: | 18–20 Sep 2019 |
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