Related papers: ROSMonitoring 2.0: Extending ROS Runtime Verificat…
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,…
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…
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…
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…
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…
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to efficiently implement modular computation graphs. The ROS 2…
Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal…
Designing robotic systems to act autonomously in unforeseen environments is a challenging task. This work presents a novel approach to use formal verification, specifically Statistical Model Checking (SMC), to verify system properties of…
Runtime verification is a lightweight verification technique that complements model checking by analyzing system executions at runtime rather than exploring a complete system model in advance. It is particularly useful for partially…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
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…