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Defesa de Dissertação de Mestrado N° 1671 "Probabilistic Analysis Applied to Robots"

O aluno Rafael Pereira de Araújo irá defender sua pesquisa no dia 15 de setembro, às 15h, no Auditório Início: 15/09/2016 às 15:00 Término: 15/09/2016 às 00:00 Local: Auditório do CIn

 Pós-Graduação em Ciência da Computação – UFPE

Defesa de Dissertação de Mestrado Nº  1.671

Aluno: Rafael Pereira de Araújo
Orientador: Prof. Alexandre Cabral Mota
Co-orientador:  Prof. Sidney de Carvalho Nogueira (DEINFO/UFRPE)
Título: Probabilistic Analysis Applied to Robots
Data: 15/09/2016
Hora/Local: 15h – Centro de Informática – Auditório
Banca Examinadora:
Prof. Juliano Manabu Iyoda (UFPE / CIn)
Prof. Luis Carlos de Sousa Menezes (UPE / Escola Politécnica de Pernambuco)
Prof. Alexandre Cabral Mota (UFPE / CIn)


Abstract:

Robots are increasingly being used in industry and starting their way at homes as well. Nonetheless, the most frequently used techniques to analyze robots motion are based on simulations or statistical experiments made from filming robots' movements. In this paper we propose an alternative way of performing such analysis by using Probabilistic Model Checking with the language and tool PRISM. With PRISM we can perform simulations as well but we can also check whether a robot motion planning satisfies specific Probabilistic Temporal formulas. Therefore we can measure energy consumption, time to complete missions, etc., and all of these in terms of specific motion planning algorithms. As consequence we can also determine if an algorithm is superior to another in some sense. Furthermore, to ease the use of our work, we hide PRISM by proposing a more user-friendly DSL. We illustrate the idea with simple motion planning algorithms for home cleaning robots.

Keywords: Probabilistic Model Checking, Domain-Specific Language, Motion Planning Algorithms, PRISM Model Checker

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