Corpus ID: 235606356

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

  title={Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies},
  author={Michele Colledanchise and Giuseppe Cicala and Daniele E. Domenichelli and Lorenzo Natale and Armando Tacchella},
Our research aims to enable automated property verification of deliberative components in robot control architectures. We focus on a formalization of the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded, methodology to enable runtime verification and prevent unexpected robot behaviors to hamper deployment. To this end, we consider a message-passing model that accommodates both synchronous and asynchronous composition of parallel components, in which BTs and… Expand

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