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The understanding of the behavioral aspects of a software system is an essential enabler for many software engineering activities, such as adaptation. This involves collecting runtime data from the system so that it is possible to analyze…

Runtime enforcement refers to the theories, techniques, and tools for enforcing correct behavior with respect to a formal specification of systems at runtime. In this paper, we are interested in techniques for constructing runtime enforcers…

In this paper, we present a real-time system identification method based on relay feedback testing with applications to multirotor unmanned aerial vehicles. The proposed identification method provides an alternative to the expensive lab…

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…

Despite the possibility to quickly compute reachable sets of large-scale linear systems, current methods are not yet widely applied by practitioners. The main reason for this is probably that current approaches are not push-button-capable…

Within academia and industry, there has been a need for expansive simulation frameworks that include model-based simulation of sensors, mobile vehicles, and the environment around them. To this end, the modular, real-time, and open-source…

Compensation programming is typically used in the programming of web service compositions whose correct implementation is crucial due to their handling of security-critical activities such as financial transactions. While traditional…

Behavior Trees (BTs) are high level controllers that have found use in a wide range of robotics tasks. As they grow in popularity and usage, it is crucial to ensure that the appropriate tools and methods are available for ensuring they work…

With numerous specialised technologies available to industry, it has become increasingly frequent for computer systems to be composed of heterogeneous components built over, and using, different technologies and languages. While this…

Grid maps are widely established for the representation of static objects in robotics and automotive applications. Though, incorporating velocity information is still widely examined because of the increased complexity of dynamic grids…

This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…

Timed B\"uchi automata provide a very expressive formalism for expressing requirements of real-time systems. Online monitoring and active testing of embedded real-time systems can then be achieved by symbolic execution of such automata on…

In the last years Node.js has emerged as a framework particularly suitable for implementing lightweight IoT applications, thanks to its underlying asynchronous event-driven, non blocking I/O model. However, verifying the correctness of…

In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…

An architectural approach to self-adaptive systems involves runtime change of system configuration (i.e., the system's components, their bindings and operational parameters) and behaviour update (i.e., component orchestration). Thus,…

Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…

Visual object tracking is an active topic in the computer vision domain with applications extending over numerous fields. The main sub-tasks required to build an object tracker (e.g. object detection, feature extraction and object tracking)…

Being intensively studied, visual tracking has seen great recent advances in either speed (e.g., with correlation filters) or accuracy (e.g., with deep features). Real-time and high accuracy tracking algorithms, however, remain scarce. In…

Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…

Hybrid systems with both discrete and continuous dynamics are an important model for real-world cyber-physical systems. The key challenge is to ensure their correct functioning w.r.t. safety requirements. Promising techniques to ensure…