Related papers: Monitoring ROS2: from Requirements to Autonomous R…
Complex dynamical systems rely on the correct deployment and operation of numerous components, with state-of-the-art methods relying on learning-enabled components in various stages of modeling, sensing, and control at both offline and…
In the current software driven era, ensuring privacy and security is critical. Despite this, the specification of security requirements for software is still largely a manual and labor intensive process. Engineers are tasked with analyzing…
Software engineering of modular robotic systems is a challenging task, however, verifying that the developed components all behave as they should individually and as a whole presents its own unique set of challenges. In particular, distinct…
A fundamental capability for On-orbit Servicing, Assembly, and Manufacturing (OSAM) is inspection of the vehicle to be serviced, or the structure being assembled. This research assumes autonomous slewing to maintain situational awareness of…
The integration of Large Language Models (LLMs), such as GPT, in industrial robotics enhances operational efficiency and human-robot collaboration. However, the computational complexity and size of these models often provide latency…
Reliability of complex Cyber-Physical Systems is necessary to guarantee availability and/or safety of the provided services. Diverse and complex fault tolerance policies are adopted to enhance reliability, that include a varied mix of…
Monitoring is the study of a system at runtime, looking for input and output events to discover, check or enforce behavioral properties. Interactive debugging is the study of a system at runtime in order to discover and understand its bugs…
Runtime verification consists in observing and collecting the execution traces of a system and checking them against a specification, with the objective of raising an error when a trace does not satisfy the specification. We consider…
As robotic systems such as autonomous cars and delivery drones assume greater roles and responsibilities within society, the likelihood and impact of catastrophic software failure within those systems is increased.To aid researchers in the…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
We present a new approach to automated scenario-based testing of the safety of autonomous vehicles, especially those using advanced artificial intelligence-based components, spanning both simulation-based evaluation as well as testing in…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
Large language models possess impressive capabilities in generating programs (e.g., Python) from natural language descriptions to execute robotic tasks. However, these generated programs often contain errors that violate externally given…
Most of the intrusion detection datasets to research machine learning-based intrusion detection systems (IDSs) are devoted to cyber-only systems, and they typically collect data from one architectural layer. Additionally, often the attacks…
An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for…
RTS2 is an open source observatory manager. It was written from scratch in the C++ language, with portability and modularity in mind. Its driving requirements originated from quick follow-ups of Gamma Ray Bursts. After some years of…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
Safety is a long-standing and the final pursuit in the development of autonomous driving systems, with a significant portion of safety challenge arising from perception. How to effectively evaluate the safety as well as the reliability of…
Robotics and Autonomous Systems are increasingly deployed in safety-critical domains, so that demonstrating their safety is essential. Assurance Cases (ACs) provide structured arguments supported by evidence, but generating and maintaining…
Modern SoC design relies on the ability to separately verify IP blocks relative to their own specifications. Formal verification (FV) using SystemVerilog Assertions (SVA) is an effective method to exhaustively verify blocks at unit-level.…