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dc.contributor.authorFraser, Douglas
dc.contributor.authorGiaquinta, Ruben
dc.contributor.authorHoffmann, Ruth
dc.contributor.authorIreland, Murray
dc.contributor.authorMiller, Alice
dc.contributor.authorNorman, Gethin
dc.identifier.citationFraser , D , Giaquinta , R , Hoffmann , R , Ireland , M , Miller , A & Norman , G 2020 , ' Collaborative models for autonomous systems controller synthesis ' , Formal Aspects of Computing , vol. 32 , no. 2-3 , pp. 157–186 .
dc.identifier.otherPURE: 266448813
dc.identifier.otherPURE UUID: ccf0b5be-71a3-4308-a07e-d245faa536ab
dc.identifier.otherORCID: /0000-0002-1011-5894/work/73701368
dc.identifier.otherScopus: 85083778492
dc.identifier.otherWOS: 000555986700002
dc.descriptionFunding: UK EPSRC grants EP/N508792/1, EP/N007565 and EC/P51133X/1.en
dc.description.abstractWe show how detailed simulation models and abstract Markov models can be developed collaboratively to generate and implement effective controllers for autonomous agent search and retrieve missions. We introduce a concrete simulation model of an Unmanned Aerial Vehicle (UAV). We then show how the probabilistic model checker PRISM is used for optimal strategy synthesis for a sequence of scenarios relevant to UAVs and potentially other autonomous agent systems. For each scenario we demonstrate how it can be modelled using PRISM, give model checking statistics and present the synthesised optimal strategies. We then show how our strategies can be returned to the controller for the simulation model and provide experimental results to demonstrate the effectiveness of one such strategy. Finally we explain how our models can be adapted, using symmetry, for use on larger search areas, and demonstrate the feasibility of this approach.
dc.relation.ispartofFormal Aspects of Computingen
dc.rightsCopyright © 2020 The Author(s). Open Access. This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit
dc.subjectAutonomous systemsen
dc.subjectFormal verificationen
dc.subjectProbabilistic model checkingen
dc.subjectStrategy synthesisen
dc.subjectQA75 Electronic computers. Computer scienceen
dc.titleCollaborative models for autonomous systems controller synthesisen
dc.typeJournal articleen
dc.description.versionPublisher PDFen
dc.contributor.institutionUniversity of St Andrews. School of Computer Scienceen
dc.contributor.institutionUniversity of St Andrews. St Andrews GAP Centreen
dc.description.statusPeer revieweden

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