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Formal methods have provided approaches for investigating software engineering fundamentals and also have high potential to improve current practices in dependability assurance. In this article, we summarise known strengths and weaknesses…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
This paper presents the initial results from our structured literature review on applications of Formal Methods (FM) to Robotic Autonomous Systems (RAS). We describe our structured survey methodology; including database selection and…
In this paper, we propose conformal inference based approach for statistical verification of CPS models. Cyber-physical systems (CPS) such as autonomous vehicles, avionic systems, and medical devices operate in highly uncertain…
Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
Any industrial system goes along with objectives to be met (e.g. economic performance), disturbances to handle (e.g. market fluctuations, catalyst decay, unexpected variations in uncontrolled flow rates and compositions,...), and…
Reinforcement learning (RL) has gained traction for its success in solving complex tasks for robotic applications. However, its deployment on physical robots remains challenging due to safety risks and the comparatively high costs of…
Leveraging recent developments in black-box risk-aware verification, we provide three algorithms that generate probabilistic guarantees on (1) optimality of solutions, (2) recursive feasibility, and (3) maximum controller runtimes for…
Many modern autonomous systems, particularly multi-agent systems, are time-critical and need to be robust against timing uncertainties. Previous works have studied left and right time robustness of signal temporal logic specifications by…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
Formal Methods are mathematically-based techniques for software design and engineering, which enable the unambiguous description of and reasoning about a system's behaviour. Autonomous systems use software to make decisions without human…
The timed automata formalism is an important model for specifying and analysing real-time systems. Robustness is the correctness of the model in the presence of small drifts on clocks or imprecision in testing guards. A symbolic algorithm…
Ensuring correctness of timed behaviors in cyber-physical systems (CPS) using closed-loop verification is challenging due to the hybrid dynamics in both systems and environments. Simulink and Stateflow are tools for model-based design that…
Numerical software are widely used in safety-critical systems such as aircrafts, satellites, car engines and so on, facilitating dynamics control of such systems in real time, it is therefore absolutely necessary to verify their…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
This paper presents a mathematical approach for improving the performance of a control system by modifying the time delay at certain operating conditions. This approach converts a continuous time loop into a discrete time loop. The formula…
Cyber-Physical Systems (CPSs), especially those involving autonomy, need guarantees of their safety. Runtime Enforcement (RE) is a lightweight method to formally ensure that some specified properties are satisfied over the executions of the…
Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in…
This paper defines and solves a mathematical model for finding robust periodic timetables by proposing an extension of the Periodic Event Scheduling Problem (PESP). In order to model delayed and not nominal travel times already in the…