Probabilistic timed behavior trees

The Behavior Tree notation has been developed as a method for systematically and traceably capturing user requirements. In this paper we extend the notation with probabilistic behaviour, so that reliability, performance, and other dependability properties can be expressed. The semantics of probabilistic timed Behavior Trees is given by mapping them to probabilistic timed automata. We gain advantages for requirements capture using Behavior Trees by incorporating into the notation an existing elegant specification formalism (probabilistic timed automata) which has tool support for formal analysis of probabilistic user requirements.