IMPERFECT SENSING BASED ANALYSIS OF AGENTS DEPLOYED IN ENVIRONMENTS FOR TRAVERSAL TASK EXECUTION

摘要

A fully tested autonomous system works predictably under ideal or assumed environment. However, behavior of the system is not fully defined when component(s) malfunction or fail (e.g., sensor failures) and the like which leads to inefficient task execution. Present disclosure provides system and method for imperfect sensing-based analysis of agents deployed in environments for traversal task execution, specifically, in unknown environments. The system estimates performance metric (e.g., task execution time) and safety metrics (e.g., number of collisions encountered while executing the task) related to task of traversal of the vehicle/agent from its current position to a target location. The system also incorporates sensitivity of each sensor(s), for given task, when they malfunction. The sensing malfunction can be both independent and/or co-related with malfunction of other sensors. Such a model helps to identify the most critical component in the agent(s), thereby increasing reliability of the system and meet safety standards.