scholarly journals Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies

2021 ◽  
Author(s):  
Michele Colledanchise ◽  
Giuseppe Cicala ◽  
Daniele E. Domenichelli ◽  
Lorenzo Natale ◽  
Armando Tacchella
Keyword(s):  
Runtime Verification ◽  
Behavior Trees

scholarly journals Building the Foundation of Robot Explanation Generation Using Behavior Trees

2021 ◽  
Vol 10 (3) ◽  
pp. 1-31
Author(s):  
Zhao Han ◽  
Daniel Giger ◽  
Jordan Allspaw ◽  
Michael S. Lee ◽  
Henny Admoni ◽  
...  
Keyword(s):  
Autonomous Robots ◽  
Free Form ◽  
Static Structure ◽  
Simulation Code ◽  
Causal Information ◽  
Robot Behavior ◽  
Behavior Trees ◽  
Robot Task ◽  
Task Specification ◽  
Explanation Generation

As autonomous robots continue to be deployed near people, robots need to be able to explain their actions. In this article, we focus on organizing and representing complex tasks in a way that makes them readily explainable. Many actions consist of sub-actions, each of which may have several sub-actions of their own, and the robot must be able to represent these complex actions before it can explain them. To generate explanations for robot behavior, we propose using Behavior Trees (BTs), which are a powerful and rich tool for robot task specification and execution. However, for BTs to be used for robot explanations, their free-form, static structure must be adapted. In this work, we add structure to previously free-form BTs by framing them as a set of semantic sets {goal, subgoals, steps, actions} and subsequently build explanation generation algorithms that answer questions seeking causal information about robot behavior. We make BTs less static with an algorithm that inserts a subgoal that satisfies all dependencies. We evaluate our BTs for robot explanation generation in two domains: a kitting task to assemble a gearbox, and a taxi simulation. Code for the behavior trees (in XML) and all the algorithms is available at github.com/uml-robotics/robot-explanation-BTs.

scholarly journals An expressiveness hierarchy of Behavior Trees and related architectures

2021 ◽  
pp. 1-1
Author(s):  
Oliver Biggar ◽  
Mohammad Zamani ◽  
Iman Shames
Keyword(s):  
Behavior Trees

RML: Theory and practice of a domain specific language for runtime verification

2021 ◽  
Vol 205 ◽  
pp. 102610
Author(s):  
Davide Ancona ◽  
Luca Franceschini ◽  
Angelo Ferrando ◽  
Viviana Mascardi
Keyword(s):  
Runtime Verification ◽  
Theory And Practice ◽  
Domain Specific Language ◽  
Specific Language ◽  
Domain Specific

scholarly journals From parametric trace slicing to rule systems

2021 ◽  
Author(s):  
Giles Reger ◽  
David Rydeheard
Keyword(s):  
Runtime Verification ◽  
Specification Languages ◽  
Execution Traces ◽  
Running System ◽  
Proof Of Correctness ◽  
Rule Systems ◽  
The Relationship ◽  
Specification Techniques ◽  
Previous Conference

AbstractParametric runtime verification is the process of verifying properties of execution traces of (data carrying) events produced by a running system. This paper continues our work exploring the relationship between specification techniques for parametric runtime verification. Here we consider the correspondence between trace-slicing automata-based approaches and rule systems. The main contribution is a translation from quantified automata to rule systems, which has been implemented in Scala. This then allows us to highlight the key differences in how the two formalisms handle data, an important step in our wider effort to understand the correspondence between different specification languages for parametric runtime verification. This paper extends a previous conference version of this paper with further examples, a proof of correctness, and an optimisation based on a notion of redundancy observed during the development of the translation.

scholarly journals Integrating runtime verification into an automated UAS traffic management system

2021 ◽  
Author(s):  
Abigail Hammer ◽  
Matthew Cauwels ◽  
Benjamin Hertz ◽  
Phillip H. Jones ◽  
Kristin Y. Rozier
Keyword(s):  
Traffic Management ◽  
Management System ◽  
Runtime Verification ◽  
Traffic Management System
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