Related papers: Testing, Verification and Improvements of Timeline…
This paper aims to develop a verification method for procedural programs via a transformation into Logically Constrained Term Rewriting Systems (LCTRSs). To this end, we extend transformation methods based on integer TRSs to handle…
Runtime verification consists in observing and collecting the execution traces of a system and checking them against a specification, with the objective of raising an error when a trace does not satisfy the specification. We consider…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
Probabilistic timed automata are an extension of timed automata with discrete probability distributions. We consider model-checking algorithms for the subclasses of probabilistic timed automata which have one or two clocks. Firstly, we show…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
Time synchronization is a critical task in robotic computing such as autonomous driving. In the past few years, as we developed advanced robotic applications, our synchronization system has evolved as well. In this paper, we first introduce…
This paper describes use of model checking to verify synchronisation properties of an industrial welding system consisting of a cobot arm and an external turntable. The robots must move synchronously, but sometimes get out of…
Cyber-physical systems (CPS) designed in simulators, often consisting of multiple interacting agents (e.g. in multi-agent formations), behave differently in the real-world. We want to verify these systems during runtime when they are…
While most approaches in formal methods address system correctness, ensuring robustness has remained a challenge. In this paper we present and study the logic rLTL which provides a means to formally reason about both correctness and…
Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…
Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…
Probabilistic model checking is a widely used formal verification technique to automatically verify qualitative and quantitative properties for probabilistic models. However, capturing such systems, writing corresponding properties, and…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
Recent advances in LLM have been instrumental in autonomous robot control and human-robot interaction by leveraging their vast general knowledge and capabilities to understand and reason across a wide range of tasks and scenarios. Previous…
Vanilla Reinforcement Learning (RL) can efficiently solve complex tasks but does not provide any guarantees on system behavior. To bridge this gap, we propose a three-step safe RL procedure for continuous action spaces that provides…
As control systems become increasingly more complex, there exists a pressing need to find systematic ways of verifying them. To address this concern, there has been significant work in developing test generation schemes for black-box…
Studying cyber-physical system (CPS) for a given network protocol and processor schedules is a challenging task. This investigation illustrates the role of TrueTime a MATLAB package for simulating CPS encapsulating information on processor…
Robots are soon going to be deployed in non-industrial environments. Before society can take such a step, it is necessary to endow complex robotic systems with mechanisms that make them reliable enough to operate in situations where the…
The assurance of quality of service properties is an important aspect of service-oriented software engineering. Notations for so-called service level agreements (SLAs), such as the Web Service Level Agreement (WSLA) language, provide a…
Runtime Verification deals with the question of whether a run of a system adheres to its specification. This paper studies runtime verification in the presence of partial knowledge about the observed run, particularly where input values may…