Related papers: Correct-by-Construction Design of Contextual Robot…
Analysis tools like abstract interpreters, symbolic execution tools and testing tools usually require a proper context to give useful results when analyzing a particular function. Such a context initializes the function parameters and…
Robotic agents performing domestic chores by natural language directives are required to master the complex job of navigating environment and interacting with objects in the environments. The tasks given to the agents are often composite…
This work establishes fundamental principles for verifying contract for interconnected hybrid systems. When system's hybrid arcs conform to the contract for a certain duration but subsequently violate it, the composition of hybrid dynamical…
The problem of writing a specification which accurately reflects the intent of the developer has long been recognized as fundamental. We propose a method and a supporting tool to write and check a specification and an implementation using a…
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…
This paper presents a framework that enables robots to automatically recover from assumption violations of high-level specifications during task execution. In contrast to previous methods relying on user intervention to impose additional…
Self-adaptive software systems continuously adapt in response to internal and external changes in their execution environment, captured as contexts. The COP paradigm posits a technique for the development of self-adaptive systems, capturing…
Robotic systems have subsystems with a combinatorially large configuration space and hundreds or thousands of possible software and hardware configuration options interacting non-trivially. The configurable parameters are set to target…
In this work, we present an approach to identify sub-tasks within a demonstrated robot trajectory using language instructions. We identify these sub-tasks using language provided during demonstrations as guidance to identify sub-segments of…
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…
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and…
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…
Uncertainties in the real world mean that is impossible for system designers to anticipate and explicitly design for all scenarios that a robot might encounter. Thus, robots designed like this are fragile and fail outside of…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
As the number of robots in our daily surroundings like home, office, restaurants, factory floors, etc. are increasing rapidly, the development of natural human-robot interaction mechanism becomes more vital as it dictates the usability and…
As the complexity and heterogeneity of a system grows, the challenge of specifying, documenting and synthesizing correct, machine-readable designs increases dramatically. Separation of the system into manageable parts is needed to support…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Motivated by the growing requirements on the operation of complex engineering systems, we present contracts as specifications for continuous-time linear dynamical systems with inputs and outputs. A contract is defined as a pair of…
Context is an essential capability for robots that are to be as adaptive as possible in challenging environments. Although there are many context modeling efforts, they assume a fixed structure and number of contexts. In this paper, we…
This work contributes to a compositional theory of "co-design" that allows to optimally design a robotic platform. In this framework, the user describes each subsystem as a monotone relation between "functionality" provided and "resources"…