USING VALIDATION AND VERIFICATION TECHNIQUES FOR ROBUST PLAN EXECUTION

This paper describes the exploitation of a Validation and Verification technique aiming at enriching the support capabilities of the KnowledgE ENgineering (KEEN) software environment. In particular, the work reports on the formal synthesis of a plan controller associated to a flexible temporal plan. The controller synthesis exploits Timed Game Automata (TGA) for formal modeling and UPPAAL-TIGA as a model checker. The paper introduces a detailed experimental analysis on a real-world case study demonstrating the viability of the approach. In particular, it is shown how the controller synthesis overhead is compatible with the performance expected from a short horizon planner