Formal Verification of Behaviour Networks Including Hardware Failures

  • Lisa Kiekbusch
  • Christopher Armbrust
  • Karsten Berns
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


The paper deals with the problem of verifying a behaviour-based control system. Although failures in sensor hardware and software can have strong influences on the robot reaction, they are often neglected in the verification process. Instead, perfect sensing is assumed. Therefore, this paper provides an approach for modelling the sensor chain in a formal way and connect it to the formal model of the control system. This model can be verified using model checking techniques, which is shown on the example of the control system of the autonomous off-road robot ravon (ravon: Robust Autonomous Vehicle for Off-road Navigation).


Behaviour-based system Behaviour network Behaviour modelling Behaviour network verification 



The research leading to these results has received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement number 285417.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Lisa Kiekbusch
    • 1
  • Christopher Armbrust
    • 1
  • Karsten Berns
    • 1
  1. 1.Robotics Research Lab, Department of Computer ScienceUniversity of KaiserslauternKaiserslauternGermany

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