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


Ezekiel, Jonathan, Lomuscio, Alessio, Molnar, Levente, Veres, S.M. and Peabody, Miles (2011) Verifying fault tolerance and self-diagnosability of an autonomous underwater vehicle At IJCAI-11 : 22nd International Joint Conference on Artificial Intelligence Workshop. AIl in Space: Intelligence beyond Planet Earth, Spain. 16 - 22 Jul 2011. 6 pp.

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Description/Abstract

We report the results obtained during the veri-
?cation 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.

Item Type: Conference or Workshop Item (Poster)
Venue - Dates: IJCAI-11 : 22nd International Joint Conference on Artificial Intelligence Workshop. AIl in Space: Intelligence beyond Planet Earth, Spain, 2011-07-16 - 2011-07-22
Subjects:
Organisations: Aeronautics, Astronautics & Comp. Eng
ePrint ID: 203521
Date :
Date Event
16 July 2011Published
Date Deposited: 17 Nov 2011 11:39
Last Modified: 18 Apr 2017 01:17
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/203521

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