Related papers: A Compositional Approach to Verifying Modular Robo…
We study the verification problem of stochastic systems under signal temporal logic (STL) specifications. We propose a novel approach that enables the verification of the probabilistic satisfaction of STL specifications for nonlinear…
Robust modules guarantee to do only what they are supposed to do - even in the presence of untrusted, malicious clients, and considering not just the direct behaviour of individual methods, but also the emergent behaviour from calls to more…
Formal specification languages have long languished, due to the grave scalability problems faced by complete verification methods. Runtime verification promises to use formal specifications to automate part of the more scalable art of…
We study a sound verification method for parametric component-based systems. The method uses a resource logic, a new formal specification language for distributed systems consisting of a finite yet unbounded number of components. The logic…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community…
The widespread adoption of autonomous systems depends on providing guarantees of safety and functional correctness, at both design time and runtime. Information about the extent to which functional requirements can be met in combination…
This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights,…
Model-based development enables quicker prototyping, earlier experimentation and validation of design intents. For a multi-agent system with complex asynchronous interactions and concurrency, formal verification, model-checking in…
A desired but challenging property of compiler verification is compositionality, in the sense that the compilation correctness of a program can be deduced incrementally from that of its substructures ranging from statements, functions, and…
Compositionality is a critical aspect of scalable system design. Reinforcement learning (RL) has recently shown substantial success in task learning, but has only recently begun to truly leverage composition. In this paper, we focus on…
This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that synthesizes model-driven engineering with semantic technologies…
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…
We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
Software-intensive Systems-of-Systems (SoS) refer to an arrangement of managerially and operationally independent systems(i.e., constituent systems), which work collaboratively towards the achievement of global missions. Because some SoS…
The analysis of cyber-physical systems (CPS) is challenging due to the large state space and the continuous changes occurring in their constituent parts. Design practices favor modularity to help reducing this complexity. In a previous…
Synchronous model is a type of formal models for modelling and specifying reactive systems. It has a great advantage over other real-time models that its modelling paradigm supports a deterministic concurrent behaviour of systems. Various…
Virtually all verification techniques using formal methods rely on the availability of a formal specification, which describes the design requirements precisely. However, formulating specifications remains a manual task that is notoriously…
Component-based design paradigm is of paramount importance due to prolific growth in the complexity of modern-day systems. Since the components are developed primarily by multi-party vendors and often assembled to realize the overall…