ABSTRACT
Robotic computer systems have become increasingly ubiquitous in everyday life and this has led to a need to develop safe and reliable robot systems. To ensure safety and reliability of these systems, the four main verification techniques are usually considered: theorem proving, model checking, peer reviews and simulation and testing in the context of the practical robotic systems, for both hardware and software sub-systems as deemed appropriate. There are probabilistic temporal logics that are worth mentioning when talking about verification in autonomous robotic systems. Motion planning architectures mostly consist of three components the world which represents robot’s physical environment and configuration, the estimation techniques to filter sensory data and motion planning. Motion planning of autonomous mobile vehicles is a fundamental problem in robotics. Time-critical robotic systems necessitate the consideration of quantitative time between the occurrence of events, that is, the correctness of most robotic systems does not only depend on the functional requirements but also on the time requirements.
