Behavior Verification of Autonomous Robot Vehicle in Consideration of Errors and Disturbances

Reliability of embedded systems has become important along with their popularization in many fields. Model checking is one of formal methods which has been successfully applied to many systems for ensuring reliabilities. In this study, we handle an autonomous robot vehicle in consideration of errors and disturbances, as an concrete example of embedded systems. Behaviors of the vehicle become essentially probabilistic in such an environment. We show that such probabilistic behaviors can be modeled in Markov Decision Processes (MDPs). To demonstrate the applicability of the modeling, we show experimental verification using the probabilistic model checker PRISM. Note that the approaches are still in preliminary stages. It is intended to establish qualitative and quantitative validations from the standpoint of design phase.