[2209.14045v1] Verifying Safety of Behaviour Trees in Event-B
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Computer Science > Robotics

arXiv:2209.14045v1 (cs)
[Submitted on 28 Sep 2022]

Title:Verifying Safety of Behaviour Trees in Event-B

Authors:Matteo Tadiello (KTH), Elena Troubitsyna (KTH)
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Abstract:Behavior Trees (BT) are becoming increasingly popular in the robotics community. The BT tool is well suited for decision-making applications allowing a robot to perform complex behavior while being explainable to humans as well. Verifying that BTs used are well constructed with respect to safety and reliability requirements is essential, especially for robots operating in critical environments. In this work, we propose a formal specification of Behavior Trees and a methodology to prove invariants of already used trees, while keeping the complexity of the formalization of the tree simple for the final user. Allowing the possibility to test the particular instance of the behavior tree without the necessity to know the more abstract levels of the formalization.
Comments: In Proceedings FMAS2022 ASYDE2022, arXiv:2209.13181
Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)
Cite as: arXiv:2209.14045 [cs.RO]
  (or arXiv:2209.14045v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2209.14045
Journal reference: EPTCS 371, 2022, pp. 139-155
Related DOI: https://doi.org/10.4204/EPTCS.371.10

Submission history

From: EPTCS [view email] [via EPTCS proxy]
[v1] Wed, 28 Sep 2022 12:26:50 UTC (178 KB)
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