Related papers: A formal implementation of Behavior Trees to act i…

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…

We present two behavioral models of an autonomous vehicle and its interaction with the environment. Both models use the formal modeling language LNT provided by the CADP toolbox. This paper discusses the modeling choices and the challenges…

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…

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…

As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…

Behavior Trees (BTs) are becoming a popular tool to model the behaviors of autonomous agents in the computer game and the robotics industry. One of the key advantages of BTs lies in their composability, where complex behaviors can be built…

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,…

We propose a verified approach to the formal verification of timed properties using model-checking techniques. We focus on properties expressed using real-time specification patterns, which can be viewed as a subset of timed temporal logics…

RoboChart is a core notation in the RoboStar framework. It is a timed and probabilistic domain-specific and state machine-based language for robotics. RoboChart supports shared variables and communication across entities in its component…

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…

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks or unpredictable environments, while keeping a transparent policy that is readable and verifiable by humans. We propose the method…

Language models trained on internet-scale data sets have shown an impressive ability to solve problems in Natural Language Processing and Computer Vision. However, experience is showing that these models are frequently brittle in unexpected…

This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry. BT designers can easily build complex behaviors composing…

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…

Most autonomous robotic agents use logic inference to keep themselves to safe and permitted behaviour. Given a set of rules, it is important that the robot is able to establish the consistency between its rules, its perception-based…

We present the design of a new functional programming language, MLTS, that uses the lambda-tree syntax approach to encoding bindings appearing within data structures. In this approach, bindings never become free nor escape their scope:…

Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…

Acting is an important decisional function for autonomous robots. Acting relies on skills to implement and to model the activities it oversees: refinement, local recovery, temporal dispatching, external asynchronous events, and commands…

An important prerequisite for the reliability and robustness of a service robot is ensuring the robot's correct behavior when it performs various tasks of interest. Extensive testing is one established approach for ensuring behavioural…

The certification of autonomous systems is an important concern in science and industry. The KI-LOK project explores new methods for certifying and safely integrating AI components into autonomous trains. We pursued a two-layered approach:…