Verifying Fault Tolerance and Self-Diagnosability of an Autonomous Underwater Vehicle

Ezekiel, Jonathan; Lomuscio, Alessio; Molnar, Levente; Veres, Sandor M.

doi:10.5591/978-1-57735-516-8/IJCAI11-279

Verifying Fault Tolerance and Self-Diagnosability of an Autonomous Underwater Vehicle

Jonathan Ezekiel, Alessio Lomuscio, Levente Molnar, Sandor M. Veres

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Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence. Pages 1659-1663.

https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-279

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.

Jonathan Ezekiel, Alessio Lomuscio, Levente Molnar, and Sandor M. Veres. 2011. Verifying Fault Tolerance and Self-Diagnosability of an Autonomous Underwater Vehicle. In Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, IJCAI-11. IJCAI, 1659–1663. https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-279

@inproceedings{ijcai2011p279,
  title     = {Verifying Fault Tolerance and Self-Diagnosability of an Autonomous Underwater Vehicle},
  author    = {Ezekiel, Jonathan and Lomuscio, Alessio and Molnar, Levente and Veres, Sandor M.},
  booktitle = {Proceedings of the Twenty-Second International Joint Conference on
               Artificial Intelligence, {IJCAI-11}},
  publisher = {AAAI Press/International Joint Conferences on Artificial Intelligence},
  editor    = {Toby Walsh},
  pages     = {1659--1663},
  year      = {2011},
  month     = {7},
  doi       = {10.5591/978-1-57735-516-8/IJCAI11-279},
  url       = {https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-279},
}

TY  - CPAPER
TI  - Verifying Fault Tolerance and Self-Diagnosability of an Autonomous Underwater Vehicle
AU  - Ezekiel, Jonathan
AU  - Lomuscio, Alessio
AU  - Molnar, Levente
AU  - Veres, Sandor M.
T2  - Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, IJCAI-11
PB  - AAAI Press/International Joint Conferences on Artificial Intelligence
PY  - 2011
SP  - 1659
EP  - 1663
DO  - 10.5591/978-1-57735-516-8/IJCAI11-279
UR  - https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-279
ER  -