AbLECPS
Assurance-based Learning Enabled Cyber Physical Systems
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Results and post process
After successfully executing an Activity with the UUV, a results plot can be computed with a post process function from the collected ROS .bag files.
The top part of these results shows plots from FLS LEC3 and LEC3 & LEC2 Assurance Monitors:
The bottom part shows the mission path in a local coordinate system (top view) with the pipe, UUV path and obstacles:
If the mission was Waypoint Following the plot shows the initial and final (altered) waypoints as well:
