Robots are increasingly used to carry out critical missions in extreme environments that are hazardous for humans. This requires a high degree of operational autonomy under uncertain conditions, and poses new challenges for assuring the robot's safety and reliability. In this paper, we develop a framework for probabilistic model checking on a layered Markov model to verify the safety and reliability requirements of such robots, both at pre-mission stage and during runtime. Two novel estimators based on conservative Bayesian inference and imprecise probability model with sets of priors are introduced to learn the unknown transition parameters from operational data. We demonstrate our approach using data from a real-world deployment of unmanned underwater vehicles in extreme environments.
Although runtime PMC is effective for assuring the quality of service-based systems @cite_29 and self-adaptive systems @cite_12 @cite_28 , there is little research on runtime PMC for robots. In the UUV domain, the first work of runtime PMC is credited to @cite_1 . However, it focuses on improving the scalability of runtime PMC by using software engineering techniques, which is also applicable to our work here that focuses on developing new methods of learning model parameters.
@cite_28 @cite_29 @cite_1 @cite_12
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In human-robot collaborative tasks, incorporating qualitative information provided by humans can greatly enhance the robustness and efficacy of robot state estimation. We introduce an algorithmic framework to model qualitative information as quantitative constraints on and between states. Our approach, named Sequentially Constrained Hamiltonian Monte Carlo, integrates Hamiltonian dynamics into Sequentially Constrained Monte Carlo sampling. We are able to generate samples that satisfy arbitrarily complex, non-smooth and discontinuous constraints, which in turn allows us to support a wide range of qualitative information. We evaluate our approach for constrained sampling qualitatively and quantitatively with several classes of constraints. SCHMC significantly outperforms the Metropolis-Hastings algorithm (a standard Markov Chain Monte Carlo (MCMC) method) and the Hamiltonian Monte Carlo (HMC) method, in terms of both the accuracy of the sampling (for satisfying constraints) and the quality of approximation. Compared to Sequentially Constrained Monte Carlo (SCMC), which supports similar kinds of constraints, our SCHMC approach has faster convergence rates and lower parameter sensitivity. While the concept of online profile directed dynamic optimizations using hardware performance monitoring unit (PMU) data is not new, it has seen fairly limited or no use in commercial JVMs. The main reason behind this fact is the set of significant challenges involved in (1) obtaining low overhead and usable profiling support from the underlying platform (2) the complexity of filtering, interpreting and using precise PMU events online in a JVM environment (3) demonstrating the total runtime benefit of PMU data based optimizations above and beyond regular online profile based optimizations. In this paper we address all three challenges by presenting a practical framework for PMU data collection and use within a high performance product JVM on a highly scalable server platform. Our experiments with JavaTM workloads using the SunTM HotspotTM JDK 1.6 JVM on the Intel ® Itanium ® platform indicate that the hardware data collection overhead (less than 0.5 ) is not as significant as the challenge of extracting the precise information for optimization purposes. We demonstrate the feasibility of mapping the instruction IP address based hardware event information to the runtime components as well as the JIT server compiler internal data structures for use in optimizations within a dynamic environment. We also evaluated the additional performance potential of optimizations such as object co-location during garbage collection and global instruction scheduling in the JIT compiler with the use of PMU generated load latency information. Experimental results show performance improvements of up to 14 with an average of 2.2 across select Java server benchmarks such as SPECjbb2005[16], SPECjvm2008[17] and Dacapo[18]. These benefits were observed over and above those provided by profile guided server JVM optimizations in the absence of hardware PMU data. Feedback control of robotic systems interacting with the environment through contacts is a central topic in legged robotics. One of the main challenges posed by this problem is the choice of a model sufficiently complex to capture the discontinuous nature of the dynamics but simple enough to allow online computations. Linear models have proved to be the most effective and reliable choice for smooth systems; we believe that piecewise affine (PWA) models represent their natural extension when contact phenomena occur. Discrete-time PWA systems have been deeply analyzed in the field of hybrid Model Predictive Control (MPC), but the straightforward application of MPC techniques to complex systems, such as a humanoid robot, leads to mixed-integer optimization problems which are not solvable at real-time rates. Explicit MPC methods can construct the entire control policy offline, but the resulting policy becomes too complex to compute for systems at the scale of a humanoid robot. In this paper we propose a novel algorithm which splits the computational burden between an offline sampling phase and a limited number of online convex optimizations, enabling the application of hybrid predictive controllers to higher-dimensional systems. In doing so we are willing to partially sacrifice feedback optimality, but we set stability of the system as an inviolable requirement. Simulation results of a simple planar humanoid that balances by making contact with its environment are presented to validate the proposed controller. We present an efficient algorithm for multi-robot motion planning from linear temporal logic (LTL) specifications. We assume that the dynamics of each robot can be described by a discrete-time, linear system together with constraints on the control inputs and state variables. Given an LTL formula specifying the multi-robot mission, our goal is to construct a set of collision-free trajectories for all robots, and the associated control strategies, to satisfy We show that the motion planning problem can be formulated as the feasibility problem for a formula p over Boolean and convex constraints, respectively capturing the LTL specification and the robot dynamics. We then adopt a satisfiability modulo convex (SMC) programming approach that exploits a monotonicity property of p to decompose the problem into smaller subproblems. Simulation results show that our algorithm is more than one order of magnitude faster than state-of-the-art sampling-based techniques for high-dimensional state spaces while supporting complex missions.