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Temporal Behavior Trees -- Segmentation

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Sriram SankaranarayananAuthors Info & Claims

HSCC '24: Proceedings of the 27th ACM International Conference on Hybrid Systems: Computation and Control

Article No.: 31, Pages 1 - 2

https://doi.org/10.1145/3641513.3652534

Published: 14 May 2024 Publication History

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Abstract

We present our tool for the segmentation of temporal behavior trees (TBT), a novel formalism for monitoring specifications. TBTs can be easily retrofitted to behavior trees, commonly used to program robotic applications. Our tool supports the robustness semantics of TBT and generates trace segmentations. In other words, given a TBT specification and a trace, it determines the optimal assignment of TBT nodes to sub-traces. To illustrate its application, we use the example of an autonomous ship deck landing. We showcase the user inputs required and demonstrate how the outputs can be interpreted to identify challenging task aspects, contributing to a comprehensive system analysis.

References

[1]

Michele Colledanchise and Petter Ögren. 2018. Behavior trees in robotics and AI: An introduction. CRC Press.

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[2]

Alexandre Donzé and Oded Maler. 2010. Robust satisfaction of temporal logic over real-valued signals. In International Conference on Formal Modeling and Analysis of Timed Systems. Springer, 92–106.

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[3]

Georgios E Fainekos and George J Pappas. 2006. Robustness of temporal logic specifications. In International Workshop on Formal Approaches to Software Testing.

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[4]

Sebastian Schirmer, Jasdeep Singh, Emily Jensen, Johann Dauer, Bernd Finkbeiner, and Sriram Sankaranarayanan. 2024. Temporal Behavior Trees: Segmentation and Robustness(HSCC ’24).

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Published In

HSCC '24: Proceedings of the 27th ACM International Conference on Hybrid Systems: Computation and Control

May 2024

307 pages

ISBN:9798400705229

DOI:10.1145/3641513

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

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Published: 14 May 2024

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HSCC '24

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SIGCHI

HSCC '24: Computation and Control

May 14 - 16, 2024

Hong Kong SAR, China

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Temporal Behavior Trees: Robustness and Segmentation

Temporal proof of the behavior of sequential machines

Temporal-logic property preservation under Z refinement

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