3 papers
cs.RO2025
AS2FM: Enabling Statistical Model Checking of ROS 2 Systems for Robust Autonomy
Christian Henkel, Marco Lampacrescia, Michaela Klauck +1
Designing robotic systems to act autonomously in unforeseen environments is a challenging task. This work presents a novel approach to use formal verification, specifically Statist…
cs.RO2025
Execution Semantics of Behavior Trees in Robotic Applications
Enrico Ghiorzi, Christian Henkel, Matteo Palmas +2
Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of sof…
cs.RO2024
GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System
Christian Henkel, Marc Toussaint, Wolfgang Hönig
Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the…