Related papers: Generating Safe Autonomous Decision-Making in ROS
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…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…
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,…
Deploying autonomous robots in safety-critical domains requires architectures that ensure operational effectiveness and safety compliance. In this paper, we contribute the Safe-ROS architecture for developing reliable and verifiable…
Existing neural network-based autonomous systems are shown to be vulnerable against adversarial attacks, therefore sophisticated evaluation on their robustness is of great importance. However, evaluating the robustness only under the…
Autonomous vehicle safety and reliability are the paramount requirements when developing autonomous vehicles. These requirements are guaranteed by massive functional and performance tests. Conducting these tests on real vehicles is…
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…
Safety and reliability play a crucial role when designing Robotic Autonomous Systems (RAS). Early consideration of hazards, risks and mitigation actions -- already in the concept study phase -- are important steps in building a solid…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
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…
The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors.…
It is important to have multi-agent robotic system specifications that ensure correctness properties of safety and liveness. As these systems have concurrency, and often have dynamic environment, the formal specification and verification 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 verification (RV) has the potential to enable the safe operation of safety-critical systems that are too complex to formally verify, such as Robot Operating System 2 (ROS2) applications. Writing correct monitors can itself be…
Regression testing plays a critical role in maintaining software reliability, particularly for ROS-based autonomous systems (ROSAS), which frequently undergo continuous integration and iterative development. However, conventional regression…
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…
Autonomous Robotics Systems are inherently safety-critical and have complex safety issues to consider (for example, a safety failure can lead to a safety failure). Before they are deployed, these systems of have to show evidence that they…
Simulation-based verification is beneficial for assessing otherwise dangerous or costly on-road testing of autonomous vehicles (AV). This paper addresses the challenge of efficiently generating effective tests for simulation-based AV…