Related papers: Reactive Control Meets Runtime Verification: A Cas…
To accurately make adaptation decisions, a self-adaptive system needs precise means to analyze itself at runtime. To this end, runtime verification can be used in the feedback loop to check that the managed system satisfies its requirements…
Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…
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…
Runtime verification is checking whether a system execution satisfies or violates a given correctness property. A procedure that automatically, and typically on the fly, verifies conformance of the system's behavior to the specified…
Field-based reactive control provides a minimalist, decentralized route to guiding robots that lack onboard computation. Such schemes are well suited to resource-limited machines like microrobots, yet implementation artifacts, limited…
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…
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but…
This paper concerns the risk-aware control of stochastic systems with temporal logic specifications dynamically assigned during runtime. Conventional risk-aware control typically assumes that all specifications are predefined and remain…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…
Runtime Monitoring is a lightweight and dynamic verification technique that involves observing the internal operations of a software system and/or its interactions with other external entities, with the aim of determining whether the system…
Neural networks are increasingly applied to support decision making in safety-critical applications (like autonomous cars, unmanned aerial vehicles and face recognition based authentication). While many impressive static verification…
The emergence of the Industrial Internet results in an increasing number of complicated temporal interdependencies between automation systems and the processes to be controlled. There is a need for verification methods that scale better…
Runtime verification is an area of formal methods that studies the dynamic analysis of execution traces against formal specifications. Typically, the two main activities in runtime verification efforts are the process of creating monitors…
Self-adaptive systems (SASs) are capable of adjusting its behavior in response to meaningful changes in the operational con-text and itself. The adaptation needs to be performed automatically through self-managed reactions and…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
Reactive software calls for instrumentation methods that uphold the reactive attributes of systems. Runtime verification imposes another demand on the instrumentation, namely that the trace event sequences it reports to monitors are sound…
Trusting software systems, particularly autonomous ones, is challenging. To address this, formal verification techniques can ensure these systems behave as expected. Runtime Verification (RV) is a leading, lightweight method for verifying…
Formal verification provides strong safety guarantees but only for models of cyber-physical systems. Hybrid system models describe the required interplay of computation and physical dynamics, which is crucial to guarantee what computations…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…