Automated Testing with Temporal Logic Specifications for Robotic Controllers using Adaptive Experiment Design

@inproceedings{Innes2022AutomatedTW,
  title={Automated Testing with Temporal Logic Specifications for Robotic Controllers using Adaptive Experiment Design},
  author={Craig Innes and Subramanian Ramamoorthy},
  booktitle={ICRA},
  year={2022}
}
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of “black-box” components with unknown dynamics, we cannot rely on formal verification to assess our system. Assessing robustness via exhaustive testing is also often infeasible if the number of possible environments is large compared to experiment cost. Given limited budget, we provide a method to choose experiment inputs which accurately reflect… 
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