Related papers: ROSMonitoring 2.0: Extending ROS Runtime Verificat…
Current robot interfaces such as teach pendants and 2D screen displays used for task visualization and interaction often seem unintuitive and limited in terms of information flow. This compromises task efficiency as interacting with the…
Unmanned aerial vehicles are rapidly transforming multiple applications, from agricultural and infrastructure monitoring to logistics and defense. Introducing greater autonomy to these systems can simultaneously make them more effective as…
Model-based development enables quicker prototyping, earlier experimentation and validation of design intents. For a multi-agent system with complex asynchronous interactions and concurrency, formal verification, model-checking in…
This paper studies runtime monitoring for persistent surveillance by autonomous robots when the autonomy stack is a black box. The environment is partitioned into finitely many parts, each carrying an uncertainty state that decreases when…
Perception algorithms in autonomous vehicles are vital for the vehicle to understand the semantics of its surroundings, including detection and tracking of objects in the environment. The outputs of these algorithms are in turn used for…
The deployment of autonomous agents in environments involving human interaction has increasingly raised security concerns. Consequently, understanding the circumstances behind an event becomes critical, requiring the development of…
We present an approach for verifying systems at runtime. Our approach targets distributed systems whose components communicate with monitors over unreliable channels, where messages can be delayed, reordered, or even lost. Furthermore, our…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
The third generation of artificial intelligence (AI) introduced by neuromorphic computing is revolutionizing the way robots and autonomous systems can sense the world, process the information, and interact with their environment. The…
We present RTAMT, an online monitoring library for Signal Temporal Logic (STL) and its interface-aware variant (IA-STL), providing both discrete- and dense-time interpretation of the logic. We also introduce RTAMT4ROS, a tool that…
The Curiosity rover is one of the most complex systems successfully deployed in a planetary exploration mission to date. It was sent by NASA to explore the surface of Mars and to identify potential signs of life. Even though it has limited…
Recent developments in advanced sensors, wireless communications and intelligent vehicle control technologies have enabled vehicles to detect traffic anomalies on the road and then notify surrounding vehicles to improve traffic safety.…
Runtime verification consists in observing and collecting the execution traces of a system and checking them against a specification, with the objective of raising an error when a trace does not satisfy the specification. We consider…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Industrial Control Systems (ICS) are often built from geographically distributed components and often use programmable logic controllers for localized processes. Since verification of such systems is challenging because of both time…