This work follow the verification as planning paradigm and propose to use model-checking techniques to solve planning and goal reasoning problems for autonomous systems with high-degree of assurance. It presents a novel modelling framework — Goal Task Network (GTN) that encompass both goal reasoning and planning under a unified formal description that enables the use of assurance tools. The paper provides a systematic method that highlights how an industrial model checker (PAT) can be used to solve goal reasoning and planning problems modelled by GTNs. Further, this paper also introduces the design of an automated system framework for Goal Reasoning And Verification for Independent Trusted Autonomous Systems (GRAVITAS). The proposed framework is demonstrated in an experiment that simulates a survey mission performed by the REMUS-100 autonomous underwater vehicle.

这项工作按照计划进行验证范式，并建议使用模型检查技术来解决具有高度保证的自治系统的计划和目标推理问题。它提供了一个新颖的建模框架-目标任务网络（GTN），该框架在统一的形式化描述下涵盖了目标推理和计划，从而可以使用保证工具。本文提供了一种系统的方法，重点介绍了如何使用工业模型检查器（PAT）解决由GTN建模的目标推理和计划问题。此外，本文还介绍了用于独立受信任的自治系统（GRAVITAS）的目标推理和验证的自动化系统框架的设计。拟议的框架在模拟REMUS-100自主水下航行器执行的调查任务的实验中得到了证明。