arxivcs.RO2026-07-21
Correct-by-Construction Behavior Tree Synthesis from Signal Temporal Logic Specifications with Application to Robotic Missions
Jiaheng Dong, Jingyi Huang, Liang Han
Behavior Trees (BTs) are widely adopted for complex task execution in robotics, providing modular, reactive control but lacking formal guarantees. However, existing correct-by-construction synthesis from Linear Temporal Logic (LTL) cannot express quantitative timing constraints.…