# Cross--layer Formal Verification of Robotic Systems

arXiv: https://arxiv.org/abs/2411.14373 · HTML: https://mlsanity.com/paper/2411.14373/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Nov 2024.

## Built on by (most cited first, 1 of 1)

- [What Breaks Embodied AI Security:LLM Vulnerabilities, CPS Flaws,or Something Else?](https://mlsanity.com/paper/2602.17345/) (2026)

## Abstract (arXiv)

Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and verification are often divided into several layers. However, some system properties can only be investigated by considering multiple layers simultaneously. We propose a cross-layer verification method to verify the expected properties of concrete robotic systems. Our method verifies one layer using abstractions of other layers. We propose two approaches: refining the models of the abstract layers and refining the property under verification. A combination of these two approaches seems to be the most promising to ensure model genericity and to avoid the state-space explosion problem.