Related papers: Reactive Control Meets Runtime Verification: A Cas…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
The architecture of a system captures important design decisions for the system. Over time, changes in a system's implementation may lead to violations of specific design decisions. This problem is common in industry and known as…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
In this work, we present a test-driven, agentic framework for synthesizing a deployable low-level robot controller for navigation tasks. Given a 2D map with an image of an ultrasonic sensor-based robot, or a 3D robotic simulation…
This study carries forward the line of enquiry that seeks to characterize precisely which security policies are enforceable by runtime monitors. In this regard, Basin et al.\ recently refined the structure that helps distinguish between…
Widespread adoption of autonomous cars will require greater confidence in their safety than is currently possible. Certified control is a new safety architecture whose goal is two-fold: to achieve a very high level of safety, and to provide…
Techniques for runtime verification often utilise specification languages that are (i) reasonably expressive, and (ii) relatively abstract (i.e. they operate on a level of abstraction that separates them from the system being monitored).…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Autonomous and robotic systems are increasingly being trusted with sensitive activities with potentially serious consequences if that trust is broken. Runtime verification techniques present a natural source of inspiration for monitoring…
Runtime monitoring is generally considered a light-weight alternative to formal verification. In safety-critical systems, however, the monitor itself is a critical component. For example, if the monitor is responsible for initiating…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
Reactive control is often considered insufficient for multi-objective tasks because conflicting objectives give rise to local minima. We argue this limitation is not inherent but arises from static encodings that fail to reflect how…
We describe a novel approach for adapting an existing software model checker to perform precise runtime verification. The software under test is allowed to communicate with the wider environment (including the file system and network). The…
Runtime verification encompasses several lightweight techniques for checking whether a system's current execution satisfies a given specification. We focus on runtime verification for Linear Temporal Logic (LTL). Previous work describes…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
Fault injections are increasingly used to attack/test secure applications. In this paper, we define formal models of runtime monitors that can detect fault injections that result in test inversion attacks and arbitrary jumps in the control…
The airworthiness and safety of a non-pedigreed autopilot must be verified, but the cost to formally do so can be prohibitive. We can bypass formal verification of non-pedigreed components by incorporating Runtime Safety Assurance (RTSA) as…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
In this paper, we show how model checking can be used to create multi-step plans for a differential drive wheeled robot so that it can avoid immediate danger. Using a small, purpose built model checking algorithm in situ we generate plans…