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A bottom-up approach to verification of hybrid model-based hierarchical controllers with application to underwater vehicles

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6 Author(s)
O'Connor, M. ; Appl. Res. Lab., Penn State Univ. ; Tangirala, S. ; Kumar, R. ; Bhattacharyya, S.
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We present a systematic method of verification for a hierarchical hybrid system which is developed using a bottom-up approach. The bottom level of the hybrid system hierarchy is verified first, and each higher-level is subsequently verified with the assumption that all lower levels are correct. At each step in the verification process, lower and higher levels than the one currently being verified may be abstracted, thus reducing the complexity of verification. This method is algorithmically developed and integrated into the design of a hierarchical hybrid mission-level controller for an autonomous underwater vehicle

Published in:

American Control Conference, 2006

Date of Conference:

14-16 June 2006