相关论文: ROBUST: 221 Bugs in the Robot Operating System

Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…

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…

This paper presents a practical approach towards implementing pathfinding algorithms on real-world and low-cost non- commercial hardware platforms. While using robotics simulation platforms as a test-bed for our algorithms we easily…

We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…

ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…

The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…

Robot apps are becoming more automated, complex and diverse. An app usually consists of many functions, interacting with each other and the environment. This allows robots to conduct various tasks. However, it also opens a new door for…

Software defect datasets, which are collections of software bugs, are essential resources to facilitate empirical research and enable standardized benchmarking for a wide range of software engineering techniques, including emerging areas…

The performance of a machine learning system is not only determined by the model but also, to a substantial degree, by the data it is trained on. With the increasing use of machine learning, issues related to data quality have become a…

This paper presents a literature survey and a comparative study of Bug Algorithms, with the goal of investigating their potential for robotic navigation. At first sight, these methods seem to provide an efficient navigation paradigm, ideal…

Robots are typically not created with security as a main concern. Contrasting to typical IT systems, cyberphysical systems rely on security to handle safety aspects. In light of the former, classic scoring methods such as the Common…

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…

This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…

Vector database management systems (VDBMSs) play a crucial role in facilitating semantic similarity searches over high-dimensional embeddings from diverse data sources. While VDBMSs are widely used in applications such as recommendation,…

As many robot automation applications increasingly rely on multi-core processing or deep-learning models, cloud computing is becoming an attractive and economically viable resource for systems that do not contain high computing power…

Regression testing plays a critical role in maintaining software reliability, particularly for ROS-based autonomous systems (ROSAS), which frequently undergo continuous integration and iterative development. However, conventional regression…

In this paper, a new hierarchical software architecture is proposed to improve the safety and reliability of a safety-critical drone system from the perspective of its source code. The proposed architecture uses formal verification methods…

Autonomous and Robotics Systems (ARSs) are widespread, complex, and increasingly coming into contact with the public. Many of these systems are safety-critical, and it is vital to detect software errors to protect against harm. We propose a…

Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…

Data storage systems serve as the foundation of digital society. The enormous data generated by people on a daily basis make the fault tolerance of data storage systems increasingly important. Unfortunately, modern storage systems consist…