Autonomous Agent Behaviour Modelled in PRISM -- A Case Study
  Formal verification of agents representing robot behaviour is a growing area due to the demand that autonomous systems have to be proven safe. In this paper we present an abstract definition of autonomy which can be used to model autonomous scenarios and propose the use of small-scale simulation models representing abstract actions to infer quantitative data. To demonstrate the applicability of the approach we build and verify a model of an unmanned aerial vehicle (UAV) in an exemplary autonomous scenario, utilising this approach. 
Ruth Hoffmann, Murray Ireland, Alice Miller, Gethin Norman, Sandor   Veres
cs.SY cs.RO