Related papers: A formal implementation of Behavior Trees to act i…
Modularity is a central principle throughout the design process for cyber-physical systems. Modularity reduces complexity and increases reuse of behavior. In this paper we pose and answer the following question: how can we identify…
We report our experience in the formal verification of the reference implementation of the Beacon Chain. The Beacon Chain is the backbone component of the new Proof-of-Stake Ethereum 2.0 network: it is in charge of tracking information…
The use of temporal logics has long been recognised as a fundamental approach to the formal specification and verification of reactive systems. In this paper, we take on the problem of automatically verifying a temporal property, given by a…
To analyse and verify the safety and security properties of interactive systems, a formal specification might be necessary. There are many types of formal languages and frameworks. The decision regarding what type of formal specification…
Vision-language-action (VLA) models can learn to perform diverse manipulation skills "out of the box," but achieving the precision and speed that real-world tasks demand requires further fine-tuning -- for example, via reinforcement…
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…
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…
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…
The growing complexity and diversity of models used in the engineering of dependable systems implies that a variety of formal methods, across differing abstractions, paradigms, and presentations, must be integrated. Such an integration…
In an efficient and flexible human-robot collaborative work environment, a robot team member must be able to recognize both explicit requests and implied actions from human users. Identifying "what to do" in such cases requires an agent to…
In this paper we show how the combination of Behaviour Tree and Utility Based AI architecture can be used to design more realistic bots for Military Simulators. In this work, we have designed a mathematical model of a simulator system which…
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…
We present SENTINEL, a framework for formally evaluating the physical safety of foundation model (FM)-based embodied agents. SENTINEL is the first to provide multi-level safety evaluation across semantic interpretation, plan generation, and…
Multi-agent and multi-robot systems (MRS) often rely on direct communication for information sharing. This work explores an alternative approach inspired by eavesdropping mechanisms in nature that involves casual observation of agent…
We present a novel formalisation of tensor semantics for linear temporal logic on finite traces (LTLf), with formal proofs of correctness carried out in the theorem prover Isabelle/HOL. We demonstrate that this formalisation can be…
Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…
Autonomous systems -- such as self-driving cars, autonomous drones, and automated trains -- must come with strong safety guarantees. Over the past decade, techniques based on formal methods have enjoyed some success in providing strong…
Recent advances in large language models (LLMs) have enabled a new generation of autonomous agents that operate over sustained periods and manage sensitive resources on behalf of users. Trusted for their ability to act without direct…
Recent advances in robot learning increasingly rely on LLM-based task planning, leveraging their ability to bridge natural language with executable actions. While prior works showcased great performances, the widespread adoption of these…
The research in AI-based formal mathematical reasoning has shown an unstoppable growth trend. These studies have excelled in mathematical competitions like IMO and have made significant progress. This paper focuses on formal verification,…