RVPLAN: Runtime Verification of Assumptions in Automated Planning

Angelo Ferrando, Rafael C. Cardoso

Abstract: Automated planners use a model of the system and apply state transition functions to find a sequence of actions (a plan) that successfully solves a (set of) goal(s). The model used during planning can be imprecise, either due to a mistake at design time or because the environment is dynamic and changed before or during the plan execution. In this paper we use runtime monitors to verify the assumptions of plans at runtime in order to effectively detect plan failures. This paper offers three main contributions: (a) two methods (instantiated and parameterised) to automatically synthesise runtime monitors by translating planning models (STRIPS-like) to temporal logics (Past LTL or Past FO-LTL); (b) an approach to use the resulting runtime monitors to detect failures in the plan; and (c) the RVPLAN tool, which implements (a) and (b). We illustrate the use of our work with a remote inspection running example as well as quantitative results comparing the performance of the proposed monitor