Verifying Safety of Behaviour Trees in Event-B

Autonomous Systems (AS) like Humanoid Robots, Autonomous Vehicles, or Unmanned Aerial Vehicles are becoming increasingly complex and need to interact with dynamic environments and with each other. For this reason, robots require tools to enable advanced perception and understanding of the environment, or capabilities to operate in complex situations. Artificial Intelligence is extending the capability of perception and action of the agents and allows robots to operate in environments not suitable for robots just a few years ago. In most common scenarios the complexity of the environment requires to the robot to have different skills, the capability of different actions, and hence also a certain degree of reasoning and understanding of which action to take and when. A relevant example could be an urban road, with car, pedestrian, and signals.