Localization Safety Validation for Autonomous Robots
Guillermo Duenas Arana,Osama Abdul Hafez,Mathieu Joerger,Matthew Spenko,Guillermo Duenas Arana,Osama Abdul Hafez,Mathieu Joerger,Matthew Spenko
This paper presents a method to validate localization safety for a preplanned trajectory in a given environment. Localization safety is defined as integrity risk and quantified as the probability of an undetected localization failure. Integrity risk differs from previously used metrics in robotics in that it accounts for unmodeled faults and evaluates safety under the worst possible combination of...
