Related papers: A Compositional Approach to Verifying Modular Robo…
Robust optimization (RO) has emerged as one of the leading paradigms to efficiently model parameter uncertainty. The recent connections between RO and problems in statistics and machine learning domains demand for solving RO problems in…
Modern out-of-order processors face speculative execution attacks. Despite various proposed software and hardware mitigations to prevent such attacks, new attacks keep arising from unknown vulnerabilities. Thus, a formal and rigorous…
Precisely modeling complex systems like cyber-physical systems is challenging, which often render model-based system verification techniques like model checking infeasible. To overcome this challenge, we propose a method called LAR to…
Program safety (i.e., absence of undefined behaviors) is critical for correct operation of computer systems. It is usually verified at the source level (e.g., by separation logics) and preserved to the target by verified compilers (e.g.,…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
In the railway domain, an electronic interlocking is a computerised system that controls the railway signalling components (e.g. switches or signals) in order to allow a safe operation of the train traffic. Interlockings are controlled by a…
Formal verification of concurrent operating systems (OSs) is challenging, in particular the verification of the dynamic memory management due to its complex data structures and allocation algorithm. An incorrect specification and…
Modular autonomous driving systems must coordinate global progress objectives with local safety-driven reactions under imperfect sensing and strict real-time constraints. This paper presents a ROS2-native arbitration module that…
In this paper, we present a domain specific process to assist the verification of observer-based fault detection software. Observer-based fault detection systems, like control systems, yield invariant properties of quadratic types. These…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
As robots become increasingly integrated into open-world, human-centered environments, their ability to interpret natural language instructions and adhere to safety constraints is critical for effective and trustworthy interaction. Existing…
In systems engineering, accurately decomposing requirements is crucial for creating well-defined and manageable system components, particularly in safety-critical domains. Despite the critical need, rigorous, top-down methodologies for…
Behavioral software contracts are a widely used mechanism for governing the flow of values between components. However, run-time monitoring and enforcement of contracts imposes significant overhead and delays discovery of faulty components…
Formal methods refer to rigorous, mathematical approaches to system development and have played a key role in establishing the correctness of safety-critical systems. The main building blocks of formal methods are models and specifications,…
This paper is about modeling and verification languages with their pros and cons. Modeling is dynamic part of system development process before realization. The cost and risky situations obligate designer to model system before production…
In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded,…
Several methods have been proposed recently to learn neural network (NN) controllers for autonomous agents, with unknown and stochastic dynamics, tasked with complex missions captured by Linear Temporal Logic (LTL). Due to the…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
Trusting software systems, particularly autonomous ones, is challenging. To address this, formal verification techniques can ensure these systems behave as expected. Runtime Verification (RV) is a leading, lightweight method for verifying…
Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…