# Geometric verification engine
Source: https://kaustubhkr.github.io/projects/verification-engine.html

← Flagship work (https://kaustubhkr.github.io/work.html) 07 / AviRob / geometry & verification 2025–2026

# Geometry-backed verification

Built an engine that checks recorded machine behaviour against site geometry and traces each finding to its observations.
System Geometric verification engine
My contribution Founder · analysis-engine design & implementation
Access Private implementation

Engineering & evidence Point-in-polygon and clearance queries, bounded temporal alignment and evidence-gated interlock validators.
Private implementation. PASS, FAIL or NOT_VERIFIABLE findings; engineering analysis, not certification.

Technical deep dive Architecture, implementation & tradeoffs
System architecture Temporal geometry / behavioural evidence

### State × time × geometry → finding

- 01

#### Align

bounded hold-last Build analysis ticks while retaining gaps, event windows and freshness.

- 02

#### Ground

site model + robot footprint Compute polygon membership, direction of travel and clearance to nearby structures.

- 03

#### Gate

required evidence → validator Resolve dependencies before evaluating speed, warnings, restart or interlocks.

- 04

#### Explain

verdict + source window Attach reason codes, severity and provenance to PASS, FAIL or NOT_VERIFIABLE.

↖ Missing, stale or insufficient observations propagate to NOT_VERIFIABLE. The finding preserves the exact physical context that made the rule applicable.
Geometry Versioned site model and robot specification
Temporal rule A stale sample cannot silently become fresh evidence
Output Finding + evidence window + original source pointers

01 / Implementation

## Temporal and geometric context

- Constructed analysis timelines with bounded hold-last behaviour, stale-gap handling and event attachment.

- Derived motion, standstill and transition context while retaining timing and evidence quality.

- Implemented deterministic polygon-based zone membership, direction-of-travel context, directional clearances and nearest-structure distance.

- Bound geometry to declared site-model and robot-specification versions.

02 / Implementation

## Behavioural checks

- Implemented validator dependencies and central evidence gating.

- Built checks for muting speed, zone-dependent speed, restart discipline, prestart/motion warnings, charging interlocks and load-secure motion prevention.

- Assembled findings with evidence windows, reason codes, severity and provenance pointers.

03 / Implementation

## Missing evidence has a defined result

- Distinguished directly observed state from inferred state in the validator inputs.

- Carried missingness, staleness and integrity status through the analysis rather than manufacturing a successful result.

- Used PASS, FAIL and NOT_VERIFIABLE to keep the conclusion consistent with the available evidence.

Engineering note

## Geometry and timing change the meaning of the same speed.

A velocity sample is only one input. The relevant zone, the direction of travel, the active machine state and the freshness of each observation determine whether a specific behaviour can be evaluated. The engine composes these contexts and retains the original source window for review.

Project context Engineering evidence analysis. It does not confer certification or replace an independent machine-safety assessment.
Related ROSCon India talk ↗ (https://www.youtube.com/watch?v=8RZy6ztm5Wg)

Keep exploring

## A learned policy. A closed control loop.

↗ (https://kaustubhkr.github.io/projects/autonomous-racing.html) ICRA autonomous racing / AutoDRIVE

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