  The battery is a key component of autonomous robots. Its performance limits
the robot's safety and reliability. Unlike liquid-fuel, a battery, as a
chemical device, exhibits complicated features, including (i) capacity fade
over successive recharges and (ii) increasing discharge rate as the state of
charge (SOC) goes down for a given power demand. Existing formal verification
studies of autonomous robots, when considering energy constraints, formalise
the energy component in a generic manner such that the battery features are
overlooked. In this paper, we model an unmanned aerial vehicle (UAV) inspection
mission on a wind farm and via probabilistic model checking in PRISM show (i)
how the battery features may affect the verification results significantly in
practical cases; and (ii) how the battery features, together with dynamic
environments and battery safety strategies, jointly affect the verification
results. Potential solutions to explicitly integrate battery prognostics and
health management (PHM) with formal verification of autonomous robots are also
discussed to motivate future work.
