A Fuzzy Approach to Qualification in Design Exploration for Autonomous   Robots and Systems
  Autonomous robots must operate in complex and changing environments subject to requirements on their behaviour. Verifying absolute satisfaction (true or false) of these requirements is challenging. Instead, we analyse requirements that admit flexible degrees of satisfaction. We analyse vague requirements using fuzzy logic, and probabilistic requirements using model checking. The resulting analysis method provides a partial ordering of system designs, identifying trade-offs between different requirements in terms of the degrees to which they are satisfied. A case study involving a home care robot interacting with a human is used to demonstrate the approach. 
Jeremy Morse and Dejanira Araiza-Illan and Jonathan Lawry and Arthur   Richards and Kerstin Eder
cs.SE cs.SY