Related papers: Formally Verified Animation for RoboChart using In…
Joint representation of geometry, colour and semantics using a 3D neural field enables accurate dense labelling from ultra-sparse interactions as a user reconstructs a scene in real-time using a handheld RGB-D sensor. Our iLabel system…
Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short…
Modern machine learning pipelines are built on numerical algorithms. Reliable numerical methods are thus a prerequisite for trustworthy machine learning and cyber-physical systems. Therefore, we contribute a framework for verified numerical…
The modelling, specification and study of the semantics of concurrent reactive systems have been interesting research topics for many years now. The aim of this thesis is to exploit the strengths of the (co)algebraic framework in modelling…
Threat detection systems rely on rule-based logic to identify adversarial behaviors, yet the conformance of these rules to high-level threat models is rarely verified formally. We present a formal verification framework that models both…
Reactive programs are ubiquitous in modern applications, and so verification is highly desirable. We present a verification strategy for reactive programs with a large or infinite state space utilising algebraic laws for reactive relations.…
Reactive programs combine traditional sequential programming constructs with primitives to allow communication with other concurrent agents. They are ubiquitous in modern applications, ranging from components systems and web services, to…
Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…
In this paper we present the verification of an imperative implementation of the ubiquitous B+-tree data structure in the interactive theorem prover Isabelle/HOL. The implementation supports membership test, insertion and range queries with…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
The graphical modeling language GRAFCET is used as a formal specification language in industrial control design. This paper proposes a structural analysis that approximates the variable values of GRAFCET to allow verification on…
Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…
We present a simple and concise semantics for temporal planning. Our semantics are developed and formalised in the logic of the interactive theorem prover Isabelle/HOL. We derive from those semantics a validation algorithm for temporal…
We present the Interactive Task Encoding System (ITES) for teaching robots to perform manipulative tasks. ITES is designed as an input system for the Learning-from-Observation (LfO) framework, which enables household robots to be programmed…
Cyber-physical systems (CPS) such as autonomous cars, aircraft, and robots are often also safety-critical; thus it is imperative that they operate as intended with a high degree of certainty. Formal verification has been employed to verify…
In human-robot interaction policy design, a rule-based method is efficient, explainable, expressive and intuitive. In this paper, we present the Signal-Rule-Slot framework, which refines prior work on rule-based symbol system design and…
Recent years have witnessed the rise of compositional semantics as a foundation for formal verification of complex systems. In particular, interaction trees have emerged as a popular denotational semantics. Interaction trees achieve…
Scalable Vector Graphics (SVGs) are fundamental to digital design and robot control, encoding not only visual structure but also motion paths in interactive drawings. In this work, we introduce RoboSVG, a unified multimodal framework for…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
In all software development projects, engineers face the challenge of translating the requirements layer into a design layer, then into an implementation-code layer, and then validating the correctness of the result. Many methodologies,…