@inproceedings{b8f584e594c042d9a902c26fa2537d86,
title = "Verifying Plans and Scripts for Robotics Tasks Using Performance Level Profiles",
abstract = "Performance-Level Profiles (PLPs) were introduced as a type of action representation language suitable for capturing the behavior of functional code for robotics. This paper considers two issues that PLPs raise: (1) Their formal semantics. (2) How to verify a script or plans that schedule the use of components that have been documented by PLPs. We discuss formal semantics for PLPs that maps them to probabilistic timed automata (PTAs). We also show how, given a script that refers to components specified using PLPs, we derive a PTA specification of the entire system. Using a model checker, we can now verify various properties of the system and answers queries about its behavior. Finally, we empirically evaluate an implemented system based on these ideas that use the UPPAAL-SMC model checker and demonstrate its scalability. The result is a pragmatic approach for verifying various properties of component-based robotic systems.",
author = "Alexander Kovalchuk and Shashank Shekhar and Brafman, {Ronen I.}",
note = "Publisher Copyright: Copyright {\textcopyright} 2021, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.; 31st International Conference on Automated Planning and Scheduling, ICAPS 2021 ; Conference date: 02-08-2021 Through 13-08-2021",
year = "2021",
month = jan,
day = "1",
language = "American English",
series = "Proceedings International Conference on Automated Planning and Scheduling, ICAPS",
pages = "673--681",
editor = "Susanne Biundo and Minh Do and Robert Goldman and Michael Katz and Qiang Yang and Zhuo, {Hankz Hankui}",
booktitle = "31st International Conference on Automated Planning and Scheduling, ICAPS 2021",
}