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Specifying and verifying visual grasping tasks

This paper presents an approach to the specification of requirements, and verification of design, for a robot or other intelligent system. The approach is demonstrated on a typical robotic task-visual grasping. Formal mathematical reasoning is used to show that a design conforms to the system requirements. Typically the requirements define safety and functionality constraints on the system and components. Formal analysis allows the system designer to evaluate the system behavior and verify the system parameters that guarantee safe and robust system performance.