Related papers: Verification of Behavior Trees with Contingency Mo…
Constructing physically accurate simulation environments (Real2Sim) traditionally relies on manual system identification or rigid, exhaustive exploration routines. These task-agnostic pipelines often fail to leverage semantic scene context,…
In recent years, the model of computation known as Behavior Trees (BT), first developed in the video game industry, has become more popular in the robotics community for defining discrete behavior switching. BTs are threatening to supplant…
Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. Traditional failure recovery methods rely on predefined strategies or human intervention, making them less adaptable. This…
Not all properties are monitorable. This is a well-known fact, and it means there exist properties that cannot be fully verified at runtime. However, given a non-monitorable property, a monitor can still be synthesised, but it could end up…
Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for…
Runtime Verification deals with the question of whether a run of a system adheres to its specification. This paper studies runtime verification in the presence of partial knowledge about the observed run, particularly where input values may…
Networks are difficult to configure correctly, and tricky to debug. These problems are accentuated by temporal and stateful behavior. Static verification, while useful, is ineffectual for detecting behavioral deviations induced by hardware…
Runtime verification enables checking temporal logic specifications over individual execution traces and offers a scalable alternative to exhaustive formal verification. In practice, systems must satisfy dozens to hundreds of temporal…
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…
Laboratory robotics offer the capability to conduct experiments with a high degree of precision and reproducibility, with the potential to transform scientific research. Trivial and repeatable tasks; e.g., sample transportation for analysis…
Runtime verification is the process of verifying critical behavioral properties in big complex systems, where formal verification is not possible due to state space explosion. There have been several attempts to design efficient algorithms…
Temporal logics (TLs) have been widely used to formalize interpretable tasks for cyber-physical systems. Time Window Temporal Logic (TWTL) has been recently proposed as a specification language for dynamical systems. In particular, it can…
Behavior trees represent a hierarchical and modular way of combining several low-level control policies into a high-level task-switching policy. Hybrid dynamical systems can also be seen in terms of task switching between different…
Hyperproperties, such as non-interference and observational determinism, relate multiple computation traces with each other and are thus not monitorable by tools that consider computations in isolation. We present the monitoring approach…
Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application of the Behaviour Tree framework to a real robotic platform…
In this paper we provide a practical demonstration of how the modularity in a Behavior Tree (BT) decreases the effort in programming a robot task when compared to a Finite State Machine (FSM). In recent years the way to represent a task…
Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…
In this paper, we introduce a hybrid zonotope-based approach for formally verifying the behavior of autonomous systems operating under Linear Temporal Logic (LTL) specifications. In particular, we formally verify the LTL formula by…
Traces are used to show whether a model complies with the intended behavior. A modeler can use trace checking to ensure the preservation of the model behavior during the refinement process. In this paper, we present a trace refinement…
In this paper, we show how Behavior Trees that have performance guarantees, in terms of safety and goal convergence, can be extended with components that were designed using machine learning, without destroying those performance guarantees.…