Abstract
In the field of industrial production the usage of Behavior Trees sparks interest due to their modularity and flexibility. Considering Behavior Trees are used in a safety-critical domain, there is increased interest for methods to verify a Behavior Tree’s safety. Current approaches for Behavior Trees are only semi-automatic since they require manually added low-level details about the action’s behavior.
In this paper, we describe an automatic verification method for safety properties on Behavior Trees using Linear Constrained Horn Clauses (LCHCs). Our approach encodes all components of the verification task as CHCs, that is, the structure and semantics of the Behavior Tree, the implemented actions in the leaf nodes and the safety property itself. These clauses are then solved by a state-of-the-art SMT solver, leading to an efficient algorithm for Behavior Tree verification, which we evaluate by comparing our method against a general purpose verification framework.
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Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germany’s Excellence Strategy – EXC-2023 Internet of Production – 390621612.
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Henn, T., Völker, M., Kowalewski, S., Trinh, M., Petrovic, O., Brecher, C. (2022). Verification of Behavior Trees using Linear Constrained Horn Clauses. In: Groote, J.F., Huisman, M. (eds) Formal Methods for Industrial Critical Systems. FMICS 2022. Lecture Notes in Computer Science, vol 13487. Springer, Cham. https://doi.org/10.1007/978-3-031-15008-1_14
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