相关论文: Verification of Logical Consistency in Robotic Rea…

As learned control policies become increasingly common in autonomous systems, there is increasing need to ensure that they are interpretable and can be checked by human stakeholders. Formal specifications have been proposed as ways to…

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

We consider the setting of stochastic multiagent systems modelled as stochastic multiplayer games and formulate an automated verification framework for quantifying and reasoning about agents' trust. To capture human trust, we work with a…

Machine learning models, and in particular language models, are being applied to various tasks that require reasoning. While such models are good at capturing patterns their ability to reason in a trustable and controlled manner is…

A robot's ability to provide descriptions of its decisions and beliefs promotes effective collaboration with humans. Providing such transparency is particularly challenging in integrated robot systems that include knowledge-based reasoning…

Logics and model-checking have been successfully used in the last decades for modeling and verification of various types of hardware (and software) systems. While most languages and techniques emerged in a context of monolithic systems with…

Providing guarantees on the safe operation of robots against edge cases is challenging as testing methods such as traditional Monte-Carlo require too many samples to provide reasonable statistics. Built upon recent advancements in…

The design and application of multi-agent systems (MAS) require reasoning about the effects of modifications on their underlying structure. In particular, such changes may impact the satisfaction of system specifications and the strategic…

In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…

Evaluating consistency in large language models (LLMs) is crucial for ensuring reliability, particularly in complex, multi-step interactions between humans and LLMs. Traditional self-consistency methods often miss subtle semantic changes in…

Many autonomous systems, such as robots and self-driving cars, involve real-time decision making in complex environments, and require prediction of future outcomes from limited data. Moreover, their decisions are increasingly required to be…

The two major systems of formal verification are model checking and algebraic model-based testing. Model checking is based on some form of temporal logic such as linear temporal logic (LTL) or computation tree logic (CTL). One powerful and…

Signal Temporal Logic (STL) is a widely recognized formal specification language to express rigorous temporal requirements on mixed analog signals produced by cyber-physical systems (CPS). A relevant problem in CPS design is how to…

In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…

Developing autonomous decision-making requires safety assurance. Agent programming languages like AgentSpeak and Gwendolen provide tools for programming autonomous decision-making. However, despite numerous efforts to apply model checking…

While most approaches in formal methods address system correctness, ensuring robustness has remained a challenge. In this paper we present and study the logic rLTL which provides a means to formally reason about both correctness and…

Techniques based on Reinforcement Learning (RL) are increasingly being used to design control policies for robotic systems. RL fundamentally relies on state-based reward functions to encode desired behavior of the robot and bad reward…

While neural models show remarkable accuracy on individual predictions, their internal beliefs can be inconsistent across examples. In this paper, we formalize such inconsistency as a generalization of prediction error. We propose a…

Rational verification is the problem of determining which temporal logic properties will hold in a multi-agent system, under the assumption that agents in the system act rationally, by choosing strategies that collectively form a…