Reasoning about real-time teleo-reactive programs

The teleo-reactive programming model is a high-level approach to implementing real-time control programs that react dynamically to changes in their environment. Teleo-reactive programs are particularly useful for implementing controllers in autonomous agents. In this paper we present formal techniques for reasoning about robust teleo-reactive programs.We develop a temporal logic over continuous intervals, which we use to formalise the semantics of teleo-reactive programs. To facilitate compositional reasoning about a program and its environment, we use rely/guarantee style specications. We also present several theorems for simplifying proofs of teleo-reactive programs that control goal-directed agents.

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