Related papers: The High-Assurance ROS Framework
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a…
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…
The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed…
R is a popular language and programming environment for data scientists. It is increasingly co-packaged with both relational and Hadoop-based data platforms and can often be the most dominant computational component in data analytics…
ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software's…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control…
Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a…
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…
Automated Driving Systems (ADSs) have seen rapid progress in recent years. To ensure the safety and reliability of these systems, extensive testings are being conducted before their future mass deployment. Testing the system on the road is…
Safety and reliability play a crucial role when designing Robotic Autonomous Systems (RAS). Early consideration of hazards, risks and mitigation actions -- already in the concept study phase -- are important steps in building a solid…
Robots have gained relevance in society, increasingly performing critical tasks. Nonetheless, robot security is being underestimated. Robotics security is a complex landscape, which often requires a cross-disciplinar perspective to which…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
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…
The Rust programming language has garnered significant interest and use as a modern, type-safe, memory-safe, and potentially formally analyzable programming language. Our interest in Rust stems from its potential as a hardware/software…
As predictive models are increasingly being deployed in high-stakes decision making (e.g., loan approvals), there has been growing interest in post hoc techniques which provide recourse to affected individuals. These techniques generate…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
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…
From both an educational and research point of view, experiments on hardware are a key aspect of robotics and control. In the last decade, many open-source hardware and software frameworks for wheeled robots have been presented, mainly in…