Related papers: Testing, Verification and Improvements of Timeline…
The idea of iterative process optimization based on collected output measurements, or "real-time optimization" (RTO), has gained much prominence in recent decades, with many RTO algorithms being proposed, researched, and developed. While…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
Ensuring that autonomous space robot control software behaves as it should is crucial, particularly as software failure in space often equates to mission failure and could potentially endanger nearby astronauts and costly equipment. To…
Requirements engineering is a key phase in the development process. Ensuring that requirements are consistent is essential so that they do not conflict and admit implementations. We consider the formal verification of rt-consistency, which…
Most autonomous robotic agents use logic inference to keep themselves to safe and permitted behaviour. Given a set of rules, it is important that the robot is able to establish the consistency between its rules, its perception-based…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physical experimentation. Such estimates are essential for…
Runtime verification is a lightweight verification technique that complements model checking by analyzing system executions at runtime rather than exploring a complete system model in advance. It is particularly useful for partially…
Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen…
Rational verification is the problem of determining which temporal logic properties will hold in a multi-agent system, under the assumption that agents in the system act rationally, by choosing strategies that collectively form a…
A classical method for model-checking timed properties-such as those expressed using timed extensions of temporal logic-is to rely on the use of observers. In this context, a major problem is to prove the correctness of observers.…
Runtime verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
Many online transaction scheduler architectures and algorithms for various software transactional memories have been designed in order to maintain good system performance even for high concurrency workloads. Most of these algorithms were…
Continued adoption of agricultural robots postulates the farmer's trust in the reliability, robustness and safety of the new technology. This motivates our work on safety assurance of agricultural robots, particularly their ability to…
The battery is a key component of autonomous robots. Its performance limits the robot's safety and reliability. Unlike liquid-fuel, a battery, as a chemical device, exhibits complicated features, including (i) capacity fade over successive…
Timed automata (TA) have been widely adopted as a suitable formalism to model time-critical systems. Furthermore, contemporary model-checking tools allow the designer to check whether a TA complies with a system specification. However, the…
Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…
Formal verification is at the heart of model validation and correctness. With model checking, invaluable realizations have been accomplished in software engineering and particularly in software development. By means of this approach,…