论文标题
验证事件B中行为树的安全性
Verifying Safety of Behaviour Trees in Event-B
论文作者
论文摘要
行为树（BT）在机器人界变得越来越流行。 BT工具非常适合决策应用程序，允许机器人执行复杂的行为，同时也可以为人类解释。验证使用的BT在安全性和可靠性要求方面已经很好地构建是必不可少的，尤其是对于在关键环境中运行的机器人。在这项工作中，我们提出了行为树的正式规范和一种证明已经使用过的树的不变性的方法，同时使最终用户的树木形式化的复杂性保持了。允许在行为树的特定实例中测试行为树的特定实例，而无需了解更抽象的形式化级别。
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.
