Can I read On Modularity in Reactive Control Architectures, with an Application to Formal Verification on EtoBox?

On Modularity in Reactive Control Architectures, with an Application to Formal Verification by Oliver Biggar; Mohammad Zamani; Iman Shames is a Computer Science article available to read on EtoBox.

What is On Modularity in Reactive Control Architectures, with an Application to Formal Verification about?

Modularity is a central principle throughout the design process for cyber-physical systems. Modularity reduces complexity and increases reuse of behavior. In this article we pose and answer the following question: how can we identify independent “modules” within the structure of reactive control architectures? To this end, we propose a graph-structured control architecture we call a decision structure and show how it generalizes some reactive control architectures that are popular in Artificial Intelligence (AI) and robotics, specifically Teleo-Reactive programs (TRs), Decision Trees (DTs), Behavior Trees (BTs), and Generalised Behavior Trees ( k -BTs). Inspired by the definition of a module in graph theory [ 16 ] we define modules in decision structures and show how each decision structure possesses a canonical decomposition into its modules, which can be found in polynomial time. We establish intuitive connections between our proposed modularity and modularity in structured programming. In BTs, k -BTs, and DTs the modules we propose are in a one-to-one correspondence with their subtrees. We show we can naturally characterize each of the BTs, k -BTs, DTs, and TRs by properties of

Who reads On Modularity in Reactive Control Architectures, with an Application to Formal Verification?

Author

Oliver Biggar; Mohammad Zamani; Iman Shames

Publisher

ACM

Published

2022

Language

EN

Field

Computer Science (Physical Sciences)