Related papers: Verification of Behavior Trees with Contingency Mo…

In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…

Deep neural networks (DNNs) are instrumental in realizing complex perception systems. As many of these applications are safety-critical by design, engineering rigor is required to ensure that the functional insufficiency of the DNN-based…

Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…

In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, building a graph of nominal trajectories in the state space, and…

The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…

Attack trees are a popular way to represent and evaluate potential security threats on systems or infrastructures. The goal of this work is to provide a framework allowing to express and check whether an attack tree is consistent with the…

In concurrent and distributed systems, software components are expected to communicate according to predetermined protocols and APIs - and if a component does not observe them, the system's reliability is compromised. Furthermore, isolating…

Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…

Network trace signature matching is one reliable approach to detect active Remote Control Trojan, (RAT). Compared to statistical-based detection of malicious network traces in the face of known RATs, the signature-based method can achieve…

This paper compares two distinct approaches to modeling robotic behavior: imperative Behavior Trees (BTs) and declarative Executable Ontologies (EO), implemented through the boldsea framework. BTs structure behavior hierarchically using…

In this paper we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking inspiration from the analogous comparisons of structural programming methodologies, we…

Runtime verification is a lightweight verification technique that complements model checking by analyzing system executions at runtime rather than exploring a complete system model in advance. It is particularly useful for partially…

Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image captioning, scene understanding, and visual question…

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…

Verification of large and complicated concurrent programs is an important issue in the software world. Stateless model checking is an appropriate method for systematically and automatically testing of large programs, which has proved its…

This paper presents a novel approach to generating behavior trees for robots using lightweight large language models (LLMs) with a maximum of 7 billion parameters. The study demonstrates that it is possible to achieve satisfying results…

Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…

Mobile robotic chemists are a fast growing trend in the field of chemistry and materials research. However, so far these mobile robots lack workflow awareness skills. This poses the risk that even a small anomaly, such as an improperly…

With the rising demand for flexible manufacturing, robots are increasingly expected to operate in dynamic environments where local -- such as slight offsets or size differences in workpieces -- are common. We propose to address the problem…

Runtime verification is an area of formal methods that studies the dynamic analysis of execution traces against formal specifications. Typically, the two main activities in runtime verification efforts are the process of creating monitors…