Related papers: A Compositional Approach to Verifying Modular Robo…
Software engineering of modular robotic systems is a challenging task, however, verifying that the developed components all behave as they should individually and as a whole presents its own unique set of challenges. In particular, distinct…
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…
Verifying specifications for large-scale modern engineering systems can be a time-consuming task, as most formal verification methods are limited to systems of modest size. Recently, contract-based design and verification has been proposed…
As autonomy becomes prevalent in many applications, ranging from recommendation systems to fully autonomous vehicles, there is an increased need to provide safety guarantees for such systems. The problem is difficult, as these are large,…
Designing large-scale control systems to satisfy complex specifications is hard in practice, as most formal methods are limited to systems of modest size. Contract theory has been proposed as a modular alternative to formal methods in…
We apply a compositional formal modeling and verification method to an autonomous aircraft taxi system. We provide insights into the modeling approach and we identify several research areas where further development is needed. Specifically,…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
We consider the problem of reasoning about networked and layered control systems using assume-guarantee specifications. As these systems are formed by the interconnection of components that operate under various clocks, we introduce a new…
Composition technologies improve reuse in the development of large-scale complex systems. Safety critical systems require intensive validation and verification activities. These activities should be compositional in order to reduce the…
This paper explores verification of constituent systems within the context of the Symphony tool platform for Systems of Systems (SoS). Our SoS modelling language, CML, supports various contractual specification elements, such as state…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
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…
The focus of this paper is on reducing the complexity in verification by exploiting modularity at various levels: in specification, in verification, and structurally. For specifications, we use the modular language CSP-OZ-DC, which allows…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…
This paper presents a novel approach to the design verification of Software Product Lines(SPL). The proposed approach assumes that the requirements and designs are modeled as finite state machines with variability information. The…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
We propose a framework for verifiable and compositional reinforcement learning (RL) in which a collection of RL subsystems, each of which learns to accomplish a separate subtask, are composed to achieve an overall task. The framework…
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…
The compositional approach is important for reasoning about large and complex systems. In this work, we address synchronous systems with hierarchical structures, which are often used to model cyber-physical systems. We revisit the theory of…
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…