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Abstract. This paper addresses the problem of verifying properties of behaviour-based systems used for controlling robots. A behaviour-based system typically consists of many interconnected components, the behaviours, which in combination realise the system's overall functionality. The connections between the behaviours are crucial for the correct operation of a system. Therefore, key properties of behaviour-based systems are verifiable based on their behaviour interconnections. In this paper, it is described how behaviour-based networks can be (automatically) modelled using finite-state machines and how model checking with the Uppaal toolbox can then be applied for verification and analysis tasks.

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