Probabilistic Analysis of Correctness of High-Level Robot Behavior with Sensor Error

This paper presents a method for reasoning about the effects of sensor error on high-level robot behavior. We consider robot controllers that are synthesized from a set of high-level, temporal logic task specifications, such that the resulting robot behavior is guaranteed to satisfy these specifications when assuming perfect sensors and actuators. We relax the assumption of perfect sensing, and calculate the probability with which the controller satisfies a set of temporal logic specifications. We consider parametric representations, where the satisfaction probability is found as a function of the model parameters, and numerical representations, allowing for the analysis of large examples. We illustrate our approach with three examples of varying size that provide insight into unintuitive effects of sensor error that can inform the specification design process.