Related papers: Formally Verified Animation for RoboChart using In…
Model execution allows us to prototype and analyse software engineering models by stepping through their possible behaviours, using techniques like animation and simulation. On the other hand, deductive verification allows us to construct…
Simulation and formal verification are important complementary techniques necessary in high assurance model-based systems development. In order to support coherent results, it is necessary to provide unifying semantics and automation for…
RoboChart is a core notation in the RoboStar framework which brings modern modelling and formal verification technologies into software engineering for robotics. It is a timed and probabilistic domain-specific language for robotics and…
In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded,…
Current formal verification of security protocols relies on specialized researchers and complex tools, inaccessible to protocol designers who informally evaluate their work with emulators. This paper addresses this gap by embedding symbolic…
Controllers for autonomous robotic systems can be specified using state machines. However, these are typically developed in an ad hoc manner without formal semantics, which makes it difficult to analyse the controller. Simulations are often…
We present the first formal verification of a networked server implemented in C. Interaction trees, a general structure for representing reactive computations, are used to tie together disparate verification and testing tools (Coq, VST, and…
State-machine based notations are ubiquitous in the description of component systems, particularly in the robotic domain. To ensure these systems are safe and predictable, formal verification techniques are important, and can be…
Formal verification of neuro-symbolic cyber-physical systems, such as drones, medical devices and robots, is complicated. Neural components must be trained to be optimal with respect to the available data as well as the safety…
Behavior Trees (BT) are becoming quite popular as an Acting component of autonomous robotic systems. We propose to define a formal semantics to BT by translating them to a formal language which enables us to perform verification of programs…
In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the robot deliberation as a Behavior Tree (BT), a directed tree…
Interaction languages such as MSC are often associated with formal semantics by means of translations into distinct behavioral formalisms such as automatas or Petri nets. In contrast to translational approaches we propose an operational…
In recent years, robots are used in an increasing variety of tasks, especially by small- and medium- sized enterprises. These tasks are usually fast-changing, they have a collaborative scenario and happen in unpredictable environments with…
Interactive robotic grasping using natural language is one of the most fundamental tasks in human-robot interaction. However, language can be a source of ambiguity, particularly when there are ambiguous visual or linguistic contents. This…
Reactive systems (RSs) represent a meta-framework aimed at deriving behavioral congruences for those computational formalisms whose operational semantics is provided by reduction rules. RSs proved a flexible specification device, yet so far…
"Interaction trees" (ITrees) are a general-purpose data structure for representing the behaviors of recursive programs that interact with their environments. A coinductive variant of "free monads," ITrees are built out of uninterpreted…
Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…
This work presents a step towards utilizing incrementally-improving symbolic perception knowledge of the robot's surroundings for provably correct reactive control synthesis applied to an autonomous driving problem. Combining abstract…
This paper presents the Pi-graphs, a visual paradigm for the modelling and verification of mobile systems. The language is a graphical variant of the Pi-calculus with iterators to express non-terminating behaviors. The operational semantics…
Behavior Trees (BT) are becoming increasingly popular in the robotics community. The BT tool is well suited for decision-making applications allowing a robot to perform complex behavior while being explainable to humans as well. Verifying…