Related papers: Monitoring ROS2: from Requirements to Autonomous R…
The Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS) is a software architecture incorporating a set of algorithms to enable autonomous operations of unmanned aircraft applications. This paper…
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…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
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…
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…
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,…
Designing robotic systems to act autonomously in unforeseen environments is a challenging task. This work presents a novel approach to use formal verification, specifically Statistical Model Checking (SMC), to verify system properties of…
Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches…
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…
Assuring the safety and trustworthiness of autonomous systems is particularly difficult when learning-enabled components and open environments are involved. Formal methods provide strong guarantees but depend on complete models and static…
To accurately make adaptation decisions, a self-adaptive system needs precise means to analyze itself at runtime. To this end, runtime verification can be used in the feedback loop to check that the managed system satisfies its requirements…
Dynamic formal verification is a key tool for providing ongoing confidence that a system is meeting its requirements while in use, especially when paired with static formal verification before the system is in use. This paper presents a…
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…
Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…
Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…
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…
Verification of complex, safety-critical systems is a significant challenge. Manual testing and simulations are often used, but are only capable of exploring a subset of the system's reachable states. Formal methods are mathematically-based…
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…
Runtime verification (RV) is a pragmatic and scalable, yet rigorous technique, to assess the correctness of complex systems, including cyber-physical systems (CPS). By measuring how robustly a CPS run satisfies a specification, RV allows in…
Autonomous systems are often used in changeable and unknown environments, where traditional verification may not be suitable. Runtime Verification (RV) checks events performed by a system against a formal specification of its intended…