Related papers: A formal implementation of Behavior Trees to act i…
One of the challenges in designing safe, reliable and trustworthy Autonomous Vehicles (AVs) is to ensure that the AVs abide by traffic rules. For this, the AVs need to be able to understand and reason about traffic rules. In previous work,…
Dynamic Fault Trees (DFT) and Dynamic Reliability Block Diagrams (DRBD) are two modeling approaches that capture the dynamic failure behavior of engineering systems for their reliability analysis. Recently, two independent higher-order…
Pre-trained language models like BERT achieve superior performances in various NLP tasks without explicit consideration of syntactic information. Meanwhile, syntactic information has been proved to be crucial for the success of NLP…
Earthwork operations face increasing demand, while workforce aging creates a growing need for automation. ROS2-TMS for Construction, a Cyber-Physical System framework for construction machinery automation, has been proposed; however, its…
It is important to have multi-agent robotic system specifications that ensure correctness properties of safety and liveness. As these systems have concurrency, and often have dynamic environment, the formal specification and verification of…
We explore the use of GPT-4 on a humanoid robot in simulation and the real world as proof of concept of a novel large language model (LLM) driven behaviour method. LLMs have shown the ability to perform various tasks, including robotic…
Behavioral testing in NLP allows fine-grained evaluation of systems by examining their linguistic capabilities through the analysis of input-output behavior. Unfortunately, existing work on behavioral testing in Machine Translation (MT) is…
Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation and deployment in the real world is far from being an easy task. The challenge of…
Mission-time Linear Temporal Logic (MLTL), a widely used subset of popular specification logics like STL and MTL, is often used to model and verify real world systems in safety-critical contexts. As the results of formal verification are…
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…
The Metaverse emerges by integrating highly-distributed, complex, and interconnecting technologies. These technologies need to be formally verified and evaluated through formal modelling before executing them in real-world applications, in…
An introductory formal languages course exposes advanced undergraduate and early graduate students to automata theory, grammars, constructive proofs, computability, and decidability. Programming students find these topics to be challenging…
Interactive task planning with large language models (LLMs) enables robots to generate high-level action plans from natural language instructions. However, in long-horizon tasks, such approaches often require many questions, increasing user…
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…
While Chain-of-Thought (CoT) prompting enhances the reasoning capabilities of large language models, the faithfulness of the generated rationales remains an open problem for model interpretability. We propose a novel theoretical lens for…
In industrial model-based development (MBD) frameworks, requirements are typically specified informally using textual descriptions. To enable the application of formal methods, these specifications need to be formalized in the input…
Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to its modularity and reusability. Designing behavior-tree tasks manually is time-consuming for robot end-users, thus there is a need for…
Timed automata are a common formalism for the verification of concurrent systems subject to timing constraints. They extend finite-state automata with clocks, that constrain the system behavior in locations, and to take transitions. While…
In current practice a formal analysis of hybrid system models is assertion-based. The work presented here is based on features that look beyond functional correctness toward a quantitative evaluation of behavioral attributes. A feature…
We explore and evaluate the interactions between Behavioral Programming (BP) and a range of Artificial Intelligence (AI) and Formal Methods (FM) techniques. Our goal is to demonstrate that BP can serve as an abstraction that integrates…