Composition and correctness of heterogeneous planning systems

Autonomous systems present many new opportunities, especially for exploration in hazardous environments. One technique for building increasingly capable planning systems is to compose existing planners to enable specialization and division of subproblems. These systems require new analysis techniques, appropriate for ensembles of planners, if they are to be trusted with safety- and mission-critical roles in the future. Current state-of-the-art techniques address parts of this problem--including analysis of middlewares such as ROS and complex control systems--but have not yet provided analysis methods to address the particular correctness needs of composite planning systems. Applying formal methods to model the internal communications of planning architectures is a promising way to address this gap.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Aeronautics and Astronautics

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2019

Author dc:creator

• Pascucci, Nicholas(Nicholas David)

Advisor dc:contributor.advisor

• Brian C. Williams.

• Aeronautics and Astronautics.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/122378

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/122378