Related papers: A Compositional Approach to Verifying Modular Robo…
To evaluate a classification algorithm, it is common practice to plot the ROC curve using test data. However, the inherent randomness in the test data can undermine our confidence in the conclusions drawn from the ROC curve, necessitating…
With the introduction of autonomous technology into our society, e.g. autonomous shipping, it is important to assess and assure the safety of autonomous systems in a real-world context. Simulation-based testing is a common approach to…
Roboticists usually test new control software in simulation environments before evaluating its functionality on real-world robots. Simulations reduce the risk of damaging the hardware and can significantly increase the development process's…
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 cutting edge in systems development today is in the area of "systems of systems" (SoS) large networks of inter-related systems that are developed and managed separately, but that also perform collective activities. Such large systems…
Model-based testing is a promising technology for black-box software and hardware testing, in which test cases are generated automatically from high-level specifications. Nowadays, systems typically consist of multiple interacting…
For performance and verification in machine learning, new methods have recently been proposed that optimise learning systems to satisfy formally expressed logical properties. Among these methods, differentiable logics (DLs) are used to…
Cyber-Physical Systems (CPS) are systems controlled by one or more computer-based components tightly integrated with a set of physical components, typically described as sensors and actuators, that can either be directly attached to the…
First-order linear temporal logic (FOLTL) is a flexible and expressive formalism capable of naturally describing complex behaviors and properties. Although the logic is in general highly undecidable, the idea of using it as a specification…
Critical and cyber-physical systems (CPS) that exist in large industries, such as nuclear power plants, railway, automotive or aeronautical industries are complex heterogeneous systems. They are complex because they are open,…
This paper introduces WOLF, a C++ estimation framework based on factor graphs and targeted at mobile robotics. WOLF can be used beyond SLAM to handle self-calibration, model identification, or the observation of dynamic quantities other…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
We introduce a new approach to analyze distributed hybrid systems by a generalization of rely-guarantee reasoning. First, we give a system for deductive verification of class invariants and method contracts in object-oriented distributed…
Rely-guarantee (RG) logic uses thread interference specifications (relies and guarantees) to reason about the correctness of multithreaded software. Unfortunately, RG logic requires each function postcondition to be "stabilized" or…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
We present an approach for verifying systems at runtime. Our approach targets distributed systems whose components communicate with monitors over unreliable channels, where messages can be delayed, reordered, or even lost. Furthermore, our…
This article provides formal definitions characterizing well-formed composition of components in order to guarantee their safe deployment and execution. Our work focuses on the structural aspects of component composition; it puts together…
Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
As the demand for Internet of Things (IoT) and Human-to-Machine Interaction (HMI) increases, modern System-on-Chips (SoCs) offering such solutions are becoming increasingly complex. This intricate design poses significant challenges for…