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A plethora of scientific software packages are published in repositories, e.g., Zenodo and figshare. These software packages are crucial for the reproducibility of published research. As an additional route to scholarly knowledge graph…
The focus of this paper is the analysis of real-time systems with recursion, through the development of good theoretical techniques which are implementable. Time is modeled using clock variables, and recursion using stacks. Our technique…
The Robot Operating System 2 (ROS~2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
In this paper, we present Real-Time Analog Monitoring Tool (RTAMT), a tool for quantitative monitoring of Signal Temporal Logic (STL) specifications. The library implements a flexible architecture that supports: (1) various environments…
Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the…
The source code of Function as a Service (FaaS) applications is constantly being refined. To detect if a source code change introduces a significant performance regression, the traditional benchmarking approach evaluates both the old and…
The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling…
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
Modern robotic systems integrate multiple independent software and hardware components, each responsible for distinct functionalities such as perception, decision-making, and execution. These components interact extensively to accomplish…
Modern enterprise platforms increasingly depend on distributed microservices, analytical data platforms, and external APIs to construct composite responses for applications. Orchestrating data retrieval across these heterogeneous systems is…
A robotic system continuously measures its own motions and the external world during operation. Such measurements are with respect to some frame of reference, i.e., a coordinate system. A nontrivial robotic system has a large number of…
We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based interactive computational environment affording scientific…
Autonomous mobile robots can rely on several human motion detection and prediction systems for safe and efficient navigation in human environments, but the underline model architectures can have different impacts on the trustworthiness of…
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…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
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…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
High quality energy systems information is a crucial input to energy systems research, modeling, and decision-making. Unfortunately, actionable information about energy systems is often of limited availability, incomplete, or only…