CSP based Formal Modeling and Verification of Behavior Trees
Peishan Huang, Weijiang Hong, Zhenbang Chen, Ji Wang · 2023
Behavior trees (BTs) as a control structure in robotics are increasingly being used in safety-critical domains, which makes it very important to verify the correctness of BTs. This fast abstract reports our in-progress work on a formal language designed explicitly for modeling BTs. Based on the language, we have developed a prototype for modeling and verifying BTs. The preliminary application and evaluation indicate the effectiveness of our method.