系统梳理形式化方法在自主机器人中的应用演进，揭示新趋势与持续方向。
Revisiting Formal Methods for Autonomous Robots: A Structured Survey
- 构建结构化综述框架，涵盖数据库、检索词与协同评审流程
- 发现形式综合与概率验证技术使用显著增长，反映领域新动向
- 适合关注机器人安全验证与形式化方法的科研人员参考
本文报告了针对自主机器人系统中形式化方法（FM）应用的结构化文献综述初步结果。介绍了综述方法论，包括数据库选择、检索关键词、筛选策略及论文协同评审流程。对已用于机器人系统建模与验证的形式化方法与形式语言进行了分类与统计。研究聚焦于基于子符号人工智能的自主机器人系统中的形式化方法应用，并分析其随时间的发展演变。本工作补充了该领域的既有综述，探讨了该研究方向的成熟过程。具体而言，调查表明部分趋势与先前综述观察一致；同时识别出此前未被充分关注的新趋势，包括形式综合方法采用率明显上升，以及概率验证技术日益普及。
原文摘要 · Abstract (English)
This paper presents the initial results from our structured literature review on applications of Formal Methods (FM) to Robotic Autonomous Systems (RAS). We describe our structured survey methodology; including database selection and associated search strings, search filters and collaborative review of identified papers. We categorise and enumerate the FM approaches and formalisms that have been used for specification and verification of RAS. We investigate FM in the context of sub-symbolic AI-enabled RAS and examine the evolution of how FM is used over time in this field. This work complements a pre-existing survey in this area and we examine how this research area has matured over time. Specifically, our survey demonstrates that some trends have persisted as observed in a previous survey. Additionally, it recognized new trends that were not considered previously including a noticeable increase in adopting Formal Synthesis approaches as well as Probabilistic Verification Techniques.
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