相关论文: ROBUST: 221 Bugs in the Robot Operating System
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Continuous fuzzing is an increasingly popular technique for automated quality and security assurance. Google maintains OSS-Fuzz: a continuous fuzzing service for open source software. We conduct the first empirical study of OSS-Fuzz,…
Security and safety are of paramount importance to human-robot interaction, either for autonomous robots or human-robot collaborative manufacturing. The intertwined relationship between security and safety has imposed new challenges on the…
Throughout computer history, it has been repeatedly demonstrated that critical software vulnerabilities can significantly affect the components involved. In the Free/Libre and Open Source Software (FLOSS) ecosystem, most software is…
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design…
This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…
We present ROBOTO2, an open-source, web-based platform for large language model (LLM)-assisted risk of bias (ROB) assessment of clinical trials. ROBOTO2 streamlines the traditionally labor-intensive ROB v2 (ROB2) annotation process via an…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
Open access to publication, software and hardware is central to robotics: it lowers barriers to entry, supports reproducible science and accelerates reliable system development. However, openness also exacerbates the inherent dual-use risks…
Robotics is becoming more and more ubiquitous, but the pressure to bring systems to market occasionally goes at the cost of neglecting security mechanisms during the development, deployment or while in production. As a result, contemporary…
We show the design of the software of the microcontroller unit of a weeding robot based on the Process Control architectural style and design patterns. The design consists of 133 modules resulting from using 8 design patterns for a total of…
Self-adaptive robots operate in dynamic, unpredictable environments where unaddressed uncertainties can lead to safety violations and operational failures. However, systematically identifying and analyzing these uncertainties, including…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
Autonomous driving has shown great potential to reform modern transportation. Yet its reliability and safety have drawn a lot of attention and concerns. Compared with traditional software systems, autonomous driving systems (ADSs) often use…
Purpose of Review. This review summarizes the broad roles that communication formats and technologies have played in enabling multi-robot systems. We approach this field from two perspectives: of robotic applications that need communication…
This paper outlines a roadmap to effectively leverage shared mental models in multi-robot, multi-stakeholder scenarios, drawing on experiences from the BugWright2 project. The discussion centers on an autonomous multi-robot systems designed…
Safety and reliability play a crucial role when designing Robotic Autonomous Systems (RAS). Early consideration of hazards, risks and mitigation actions -- already in the concept study phase -- are important steps in building a solid…
Deep learning has gained substantial popularity in recent years. Developers mainly rely on libraries and tools to add deep learning capabilities to their software. What kinds of bugs are frequently found in such software? What are the root…
Software developers attempt to reproduce software bugs to understand their erroneous behaviours and to fix them. Unfortunately, they often fail to reproduce (or fix) them, which leads to faulty, unreliable software systems. However, to…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…