Related papers: Monitoring ROS2: from Requirements to Autonomous R…
Cyber-physical systems are inherently safety-critical. The deployment of a runtime monitor significantly increases confidence in their safety. The effectiveness of the monitor can be maximized by considering it an integral component during…
Object tracking from Unmanned Aerial Vehicles (UAVs) is challenged by platform dynamics, camera motion, and limited onboard resources. Existing visual trackers either lack robustness in complex scenarios or are too computationally demanding…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…
Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a…
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…
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…
Simulation-based testing remains the main approach for validating Autonomous Driving Systems. We propose a rigorous test method based on breaking down scenarios into simple ones, taking into account the fact that autopilots make decisions…
Formal property verification (FPV) has existed for decades and has been shown to be effective at finding intricate RTL bugs. However, formal properties, such as those written as SystemVerilog Assertions (SVA), are time-consuming and…
Runtime verification is a computing analysis paradigm based on observing a system at runtime (to check its expected behaviour) by means of monitors generated from formal specifications. Distributed runtime verification is runtime…
Fault injections are increasingly used to attack/test secure applications. In this paper, we define formal models of runtime monitors that can detect fault injections that result in test inversion attacks and arbitrary jumps in the control…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…
We introduce GRS (Generating Robotic Simulation tasks), a system addressing real-to-sim for robotic simulations. GRS creates digital twin simulations from single RGB-D observations with solvable tasks for virtual agent training. Using…
In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as…
Runtime verification (RV) now scales for testing thousands of open-source Java projects, helping find hundreds of bugs. The popular Python ecosystem could use such benefits. But, today's Python RV systems are limited to a domain or…
We present RTAMT, an online monitoring library for Signal Temporal Logic (STL) and its interface-aware variant (IA-STL), providing both discrete- and dense-time interpretation of the logic. We also introduce RTAMT4ROS, a tool that…
This paper addresses robotic system engineering for safety- and mission-critical applications by bridging the gap between high-level objectives and formal, executable specifications. The proposed method, Robotic System Task to Model…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
The safety and reliability of Automated Driving Systems (ADS) are paramount, necessitating rigorous testing methodologies to uncover potential failures before deployment. Traditional testing approaches often prioritize either natural…
In this paper, we argue that the next generation of robots can be commanded using only Language Models' prompts. Every prompt interrogates separately a specific Robotic Modality via its Modality Language Model (MLM). A central Task Modality…