Verifying Safety of Behaviour Trees in Event-B

  title={Verifying Safety of Behaviour Trees in Event-B},
  author={Matteo Tadiello and Elena Troubitsyna},
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… 



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