Related papers: Towards A Catalogue of Requirement Patterns for Sp…
We apply a compositional formal modeling and verification method to an autonomous aircraft taxi system. We provide insights into the modeling approach and we identify several research areas where further development is needed. Specifically,…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
Traditional requirements engineering tools do not readily access the SysML-defined system architecture model, often resulting in ad-hoc duplication of model elements that lacks the connectivity and expressive detail possible in a…
Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute…
This paper presents a formal and comprehensive reasoning framework for robot motion risk, with a focus on locomotion in challenging unstructured or confined environments. Risk which locomoting robots face in physical spaces was not formally…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
Acting is an important decisional function for autonomous robots. Acting relies on skills to implement and to model the activities it oversees: refinement, local recovery, temporal dispatching, external asynchronous events, and commands…
Human long duration exploration missions (LDEMs) raise a number of technological challenges. This paper addresses the question of the crew autonomy: as the distances increase, the communication delays and constraints tend to prevent the…
Natural language (NL) is arguably the most prevalent medium for expressing systems and software requirements. Detecting incompleteness in NL requirements is a major challenge. One approach to identify incompleteness is to compare…
Language-conditioned robot models have the potential to enable robots to perform a wide range of tasks based on natural language instructions. However, assessing their safety and effectiveness remains challenging because it is difficult to…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
Robotic assistants in long-term human-robot collaboration need to assist users under partial observations while leveraging cross-day interaction history. However, human traits and routines are often unknown at the beginning of…
Testing and validating Cyber-Physical Systems (CPSs) in the aerospace domain, such as field testing of drone rescue missions, poses challenges due to volatile mission environments, such as weather conditions. While testing processes and…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
This paper gives an overview of SCR3 -- a toolset designed to increase the usability of formal methods for software development. Formal requirements are specified in SCR3 in an easy to use and review format, and then used in checking…
This technical report presents a comprehensive formal verification approach for probabilistic agent systems modeling ballistic rocket flight trajectories using Probabilistic Alternating-Time Temporal Logic (PATL). We describe an innovative…
The requirements elicited from stakeholders are typically informal, incomplete, ambiguous, and inconsistent. It is the task of Requirements Engineering to transform them into an eligible (formal, sufficiently complete, unambiguous,…
We present Flipper, a natural language interface for describing high-level task specifications for robots that are compiled into robot actions. Flipper starts with a formal core language for task planning that allows expressing rich…
Systems interacting with humans, such as assistive robots or chatbots, are increasingly integrated into our society. To prevent these systems from causing social, legal, ethical, empathetic, or cultural (SLEEC) harms, normative requirements…