相关论文: A formal implementation of Behavior Trees to act i…

Modern network defense can benefit from the use of autonomous systems, offloading tedious and time-consuming work to agents with standard and learning-enabled components. These agents, operating on critical network infrastructure, need to…

Formal verification provides strong guarantees of correctness of software, which are especially important in safety or security critical systems. Hoare logic is a widely used formalism for rigorous verification of software against…

This paper presented an XAI system specification and an interactive dialogue model to facilitate the creation of Explanation Experiences (EE). Such specifications combine the knowledge of XAI, domain and system experts of a use case to…

Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…

Nowadays many software development frameworks implement Behavior-Driven Development (BDD) as a mean of automating the test of interactive systems under construction. Automated testing helps to simulate user's action on the User Interface…

To realize a market entry of autonomous vehicles in the foreseeable future, the behavior planning system will need to abide by the same rules that humans follow. Product liability cannot be enforced without a proper solution to the approval…

Motivated by the challenge presented by non-Markovian objectives in reinforcement learning (RL), we present a novel framework to track and represent the progress of autonomous agents through complex, multi-stage tasks. Given a specification…

In runtime verification, the central problem is to decide if a given program execution violates a given property. In online runtime verification, a monitor observes a program's execution as it happens. If the program being observed has hard…

This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot…

Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. However as initially implemented, behavior trees are static plans. This paper adds to recent literature exploring the…

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…

As hardware and software systems have grown in complexity, formal methods have been indispensable tools for rigorously specifying acceptable behaviors, synthesizing programs to meet these specifications, and validating the correctness of…

With the advancements in modern intelligent technologies, mobile robots equipped with manipulators are increasingly operating in unstructured environments. These robots can plan sequences of actions for long-horizon tasks based on perceived…

To guarantee that machine learning models yield outputs that are not only accurate, but also robust, recent works propose formally verifying robustness properties of machine learning models. To be applicable to realistic safety-critical…

Multi-Robot and Multi-Agent Systems demonstrate collective (swarm) intelligence through systematic and distributed integration of local behaviors in a group. Agents sharing knowledge about the mission and environment can enhance performance…

Traditional robot simulators focus on physical process modeling and realistic rendering, often suffering from high computational costs, inefficiencies, and limited adaptability. To handle this issue, we concentrate on behavior simulation in…

We propose active object languages as a development tool for formal system models of distributed systems. Additionally to a formalization based on a term rewriting system, we use established Software Engineering concepts, including software…

Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…

In this letter we show how to improve the performance of backward chained behavior trees (BTs) that use reinforcement learning (RL). BTs represent a hierarchical and modular way of combining control policies into higher level control…

The design and analysis of systems that combine computational behaviour with physical processes' continuous dynamics - such as movement, velocity, and voltage - is a famous, challenging task. Several theoretical results from programming…