Related papers: A Compositional Approach to Verifying Modular Robo…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
We propose and demonstrate a compositional framework for training and verifying reinforcement learning (RL) systems within a multifidelity sim-to-real pipeline, in order to deploy reliable and adaptable RL policies on physical hardware. By…
Modern engineering systems include many components of different types and functions. Verifying that these systems satisfy given specifications can be an arduous task, as most formal verification methods are limited to systems of moderate…
In previous work, summarized in this paper, we proposed an operation of parallel composition for rewriting-logic theories, allowing compositional specification of systems and reusability of components. The present paper focuses on…
Exhaustive formal verification for systems of systems (SoS) is impractical and cannot be applied on a large scale. In this paper we propose to use statistical model checking for efficient verification of SoS. We address three relevant…
Effectively specifying and implementing robotic missions poses a set of challenges to software engineering for robotic systems. These challenges stem from the need to formalize and execute a robot's high-level tasks while considering…
A key challenge in System of Systems (SoS) engineering is the analysis and maintenance of global properties under SoS evolution, and the integration of new constituent elements. There is a need to model the constituent systems composing a…
We propose a new approach for modelling the functional behaviour of an Earth observation satellite. We leverage this approach in order to develop a safety critical software, a "telecommand verifier", that is in charge of checking onboard…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and…
In this thesis a comprehensive verification framework is proposed to contend with some important issues in composability verification and a verification process is suggested to verify composability of different kinds of systems models, such…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
Closed-loop verification of cyber-physical systems with neural network controllers offers strong safety guarantees under certain assumptions. It is, however, difficult to determine whether these guarantees apply at run time because…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…
The validation of requirements is a fundamental step in the development process of safety-critical systems. In safety critical applications such as aerospace, avionics and railways, the use of formal methods is of paramount importance both…
This paper introduces a new technique for dynamic verification of component-based real-time systems based on statistical inference. Verifying such systems requires checking two types of properties: functional and real-time. For functional…
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot…
Cyber-physical systems (CPS) such as autonomous cars, aircraft, and robots are often also safety-critical; thus it is imperative that they operate as intended with a high degree of certainty. Formal verification has been employed to verify…
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…
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…