This work aims to develop a model checking method to verify the decision making system of Unmanned Surface Vehicle (USV) in a long range surveillance mission. The scenario in this work was captured from a long endurance USV surveillance mission using C-Enduro, an USV manufactured by ASV Ltd. The C-Enduro USV may encounter multiple non-deterministic and concurrent problems including lost communication signals, collision risk and malfunction. The vehicle is designed to utilise multiple energy sources from solar panel, wind turbine and diesel generator. The energy state can be affected by the solar irradiance condition, wind condition, states of the diesel generator, sea current condition and states of the USV. In this research, the states and the interactive relations between environmental uncertainties, sensors, USV energy system, USV and Ground Control Station (GCS) decision making systems are abstracted and modelled successfully using Kripke models. The desirable properties to be verified are expressed using temporal logic statement and finally the safety properties and the long endurance properties are verified using the model checker MCMAS, a model checker for multi-agent systems. The verification results are analyzed and show the feasibility of applying model checking method to retrospect the desirable property of the USV decision making system. This method could assist researcher to identify potential design error of decision making system in advance.

中文翻译：

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长寿无人水面飞行器决策系统的模型检验

这项工作旨在开发一种模型检查方法，以验证远程监视任务中的无人水面车辆（USV）的决策系统。这项工作中的场景是使用ASV Ltd.生产的USV C-Enduro进行的长时间USV监视任务捕获的。C-EnduroUSV可能会遇到多个不确定的并发问题，包括通信信号丢失，碰撞风险和故障。该车辆设计为利用来自太阳能电池板，风力涡轮机和柴油发电机的多种能源。能量状态会受到太阳辐射条件，风况，柴油发电机状态，海流状态和USV状态的影响。在这项研究中，环境不确定性，传感器，USV能源系统之间的状态和相互作用关系，使用Kripke模型成功地对USV和地面控制站（GCS）决策系统进行了抽象和建模。使用时间逻辑语句来表示要验证的理想属性，最后使用模型检查器MCMAS（用于多主体系统的模型检查器）来验证安全性和长期耐用性。分析了验证结果，并表明了应用模型检查方法回顾USV决策系统理想属性的可行性。该方法可以帮助研究人员提前发现决策系统潜在的设计错误。使用时间逻辑语句来表示要验证的理想属性，最后使用模型检查器MCMAS（用于多主体系统的模型检查器）来验证安全性和长期耐用性。分析了验证结果，并表明了应用模型检查方法回顾USV决策系统理想属性的可行性。该方法可以帮助研究人员提前发现决策系统潜在的设计错误。使用时间逻辑语句来表示要验证的理想属性，最后使用模型检查器MCMAS（用于多主体系统的模型检查器）来验证安全性和长期耐用性。分析了验证结果，并表明了应用模型检查方法回顾USV决策系统理想属性的可行性。该方法可以帮助研究人员提前发现决策系统潜在的设计错误。