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Verifying fault tolerance and self-diagnosability of an autonomous underwater vehicle

Verifying fault tolerance and self-diagnosability of an autonomous underwater vehicle
Verifying fault tolerance and self-diagnosability of an autonomous underwater vehicle
We report the results obtained during the verification of Autosub6000, an autonomous underwater vehicle used for deep oceanic exploration.
Our starting point is the Simulink/Matlab engineering model of the submarine, which is discretised by a compiler into a representation suitable for model checking. We assess the ability of the vehicle to function under degraded conditions by injecting faults automatically into the discretised model. The resulting system is analysed by means of the model checker MCMAS, and conclusions are drawn on the system’s ability to withstand faults and to perform self-diagnosis and recovery. We present lessons learnt from this and suggest a general method for verifying autonomous vehicles.
Ezekiel, Jonathan
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Lomuscio, Alessio
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Molnar, Levente
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Veres, S.M.
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Peabody, Miles
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Ezekiel, Jonathan
e8ac879a-1484-4ca7-9907-31f85df8c74d
Lomuscio, Alessio
acc8acb4-07d3-41b8-bcdd-d1c24cf5251b
Molnar, Levente
3295d70a-0b14-4b2a-973c-8aadad684cca
Veres, S.M.
909c60a0-56a3-4eb6-83e4-d52742ecd304
Peabody, Miles
9f5e0b17-59ad-4132-b7f2-28d249084e35

Ezekiel, Jonathan, Lomuscio, Alessio, Molnar, Levente, Veres, S.M. and Peabody, Miles (2011) Verifying fault tolerance and self-diagnosability of an autonomous underwater vehicle. IJCAI-11 : 22nd International Joint Conference on Artificial Intelligence Workshop. AIl in Space: Intelligence beyond Planet Earth, Barcelona, Spain. 15 - 21 Jul 2011. 6 pp .

Record type: Conference or Workshop Item (Poster)

Abstract

We report the results obtained during the verification of Autosub6000, an autonomous underwater vehicle used for deep oceanic exploration.
Our starting point is the Simulink/Matlab engineering model of the submarine, which is discretised by a compiler into a representation suitable for model checking. We assess the ability of the vehicle to function under degraded conditions by injecting faults automatically into the discretised model. The resulting system is analysed by means of the model checker MCMAS, and conclusions are drawn on the system’s ability to withstand faults and to perform self-diagnosis and recovery. We present lessons learnt from this and suggest a general method for verifying autonomous vehicles.

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More information

Published date: 16 July 2011
Additional Information: Funded by EPSRC: METHODS OF RELIABILITY-CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES (EP/E02727X/1)
Venue - Dates: IJCAI-11 : 22nd International Joint Conference on Artificial Intelligence Workshop. AIl in Space: Intelligence beyond Planet Earth, Barcelona, Spain, 2011-07-15 - 2011-07-21
Organisations: Aeronautics, Astronautics & Comp. Eng

Identifiers

Local EPrints ID: 203521
URI: http://eprints.soton.ac.uk/id/eprint/203521
PURE UUID: aa96f647-2b9d-47a5-884e-ffda1171735e

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Date deposited: 17 Nov 2011 11:39
Last modified: 20 Dec 2019 18:28

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