Related papers: ROSMonitoring 2.0: Extending ROS Runtime Verificat…
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…
On-orbit servicing (OOS) activities will power the next big step for sustainable exploration and commercialization of space. Developing robotic capabilities for autonomous OOS operations is a priority for the space industry. Visual Servoing…
In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture…
This paper describes the experience of preparing and testing the SPARUS II AUV in different applications. The AUV was designed as a lightweight vehicle combining the classical torpedo-shape features with the hovering capability. The robot…
Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not…
The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
Runtime Verification is a lightweight formal verification technique. It is used to verify at runtime whether the system under analysis behaves as expected. The expected behaviour is usually formally specified by means of properties, which…
Automated driving technologies promise substantial improvements in transportation safety, efficiency, and accessibility. However, ensuring the reliability and safety of Autonomous Vehicles in complex, real-world environments remains a…
Autonomous systems must sustain justified confidence in their correctness and safety across their operational lifecycle-from design and deployment through post-deployment evolution. Traditional assurance methods often separate…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
To accurately make adaptation decisions, a self-adaptive system needs precise means to analyze itself at runtime. To this end, runtime verification can be used in the feedback loop to check that the managed system satisfies its requirements…
Runtime verification is checking whether a system execution satisfies or violates a given correctness property. A procedure that automatically, and typically on the fly, verifies conformance of the system's behavior to the specified…
A unified mathematical model for synchronisation and swarming has recently been proposed. Each system entity, called a "swarmalator", coordinates its internal phase and location with the other entities in a way that these two attributes are…
In formal verification, runtime monitoring consists of observing the execution of a system in order to decide as quickly as possible whether or not it satisfies a given property. We consider monitoring in a distributed setting, for…
Collapsing of structural buildings has been sighted commonly and the presence of potential faults has proved to be damaging to the buildings, resulting in accidents. It is essential to continuously monitor any building for faults where…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…
Runtime verification (RV) is a pragmatic and scalable, yet rigorous technique, to assess the correctness of complex systems, including cyber-physical systems (CPS). By measuring how robustly a CPS run satisfies a specification, RV allows in…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
As autonomous robots increasingly navigate complex and unpredictable environments, ensuring their reliable behavior under uncertainty becomes a critical challenge. This paper introduces a digital twin-based runtime verification for an…