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The idea of verification for Golog programs is that if the tree search for a given program + MTL specification sans controller actions (i.e. every action is an environment action), leads to the root node being labelled as top, then no execution of the Golog program violates the given specification, i.e. the program is safe against the specification. On the other hand if the resulting tree labels the root node as bottom, then there is at least one unsafe execution path of the program. In this case, finding the path gives a counter-example against the MTL spec. A simple path traversal on a fully built search tree towards a top or bottom labelled leaf node is to be implemented in these files, to enable gocos to do Golog program verification.
In verification mode, we want to generate a possibly minimal counter example of an execution trace of a golog program violating the given constraints. To achieve this, we traverse the search tree until we reach a bottom labelled node.
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In order to better understand the generated counter example, a program execution trace is extracted from the search tree and printed with concrete candidate clock valuations.
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