Related papers: Monitoring ROS2: from Requirements to Autonomous R…
Different from existing MOT (Multi-Object Tracking) techniques that usually aim at improving tracking accuracy and average FPS, real-time systems such as autonomous vehicles necessitate new requirements of MOT under limited computing…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
Runtime verification (RV) consists in dynamically verifying that the event traces generated by single runs of a system under scrutiny (SUS) are compliant with the formal specification of its expected properties. RML (Runtime Monitoring…
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS,…
Runtime Verification is a lightweight formal verification technique. It is used to verify at runtime whether the system under analysis behaves as expected. The expected behaviour is usually formally specified by means of properties, which…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
Since distributed software systems are ubiquitous, their correct functioning is crucially important. Static verification is possible in principle, but requires high expertise and effort which is not feasible in many eco-systems. Runtime…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
We propose TOPL automata as a new method for runtime verification of systems with unbounded resource generation. Paradigmatic such systems are object-oriented programs which can dynamically generate an unbounded number of fresh object…
Data labeling is a time intensive process. As such, many data scientists use various tools to aid in the data generation and labeling process. While these tools help automate labeling, many still require user interaction throughout the…
Security of robotics systems, as well as of the related middleware infrastructures, is a critical issue for industrial and domestic IoT, and it needs to be continuously assessed throughout the whole development lifecycle. The next…
With advances in informatics applied to materials science, predicting the physical properties of numerous materials has become increasingly feasible, creating a growing demand for their experimental validation. It has been expected that the…
Stream-based runtime monitoring frameworks are safety assurance tools that check the runtime behavior of a system against a formal specification. This tutorial provides a hands-on introduction to RTLola, a real-time monitoring toolkit for…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
Environment perception is a fundamental part of the dynamic driving task executed by Autonomous Driving Systems (ADS). Artificial Intelligence (AI)-based approaches have prevailed over classical techniques for realizing the environment…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
Integrating autonomous and adaptive behavior into software-intensive systems presents significant challenges for software development, as uncertainties in the environment or decision-making processes must be explicitly captured. These…
Autonomous driving functions (ADFs) in public traffic have to comply with complex system requirements that are based on knowledge of experts from different disciplines, e.g., lawyers, safety experts, psychologists. In this paper, we present…
Formal verification of a software system relies on formalising the requirements to which it should adhere, which can be challenging. While formalising requirements from natural-language, we have dependencies that lead to duplication of…