Adaptable and Verifiable BDI Reasoning

Long-term autonomy requires autonomous systems to adapt as their capabilities no longer perform as expected. To achieve this, a system must first be capable of detecting such changes. Creating and maintaining a system ontology is a comprehensive solution for this; an agent-maintained formal selfmodel will take the role of this system ontology. It would act as a repository of information about all the processes and functionality of the autonomous system, forming a systematic approach for detecting action failures. Our work will focus on Belief-Desire-Intention (BDI) [25] programming languages as they are well known for their use in developing intelligent agents [1, 6, 16, 21].