相关论文: AS2FM: Enabling Statistical Model Checking of ROS …

Autonomous Driving (AD) systems demand the high levels of safety assurance. Despite significant advancements in AD demonstrated on open-source benchmarks like Longest6 and Bench2Drive, existing datasets still lack regulatory-compliant…

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…

Even if the verification of authentication protocols can be achieved by means of formal analysis, the modelling of such an activity is an error-prone task due to the lack of automated and integrated processes. This paper proposes a…

Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…

Formal methods have provided approaches for investigating software engineering fundamentals and also have high potential to improve current practices in dependability assurance. In this article, we summarise known strengths and weaknesses…

With advances in informatics applied to materials science, predicting the physical properties of numerous materials has become increasingly feasible, creating a growing demand for their experimental validation. It has been expected that the…

Over the past decade, machine learning has demonstrated impressive results, often surpassing human capabilities in sensing tasks relevant to autonomous flight. Unlike traditional aerospace software, the parameters of machine learning models…

We introduce Mars 2.0 for modeling, analysis, verification and code generation of Cyber-Physical Systems. Mars 2.0 integrates Mars 1.0 with several important extensions and improvements, allowing the design of cyber-physical systems using…

The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…

Design and control of autonomous systems that operate in uncertain or adversarial environments can be facilitated by formal modelling and analysis. Probabilistic model checking is a technique to automatically verify, for a given temporal…

State machines are a common mechanism for defining behaviors in robots, defining them based on identifiable stages. There are several libraries available for easing the implementation of state machines in ROS 1, as SMACH or SMACC, but there…

Software correctness is ensured mathematically through formal verification, which involves the resources of generating formal requirement specifications and having an implementation that must be verified. Tools such as model-checkers and…

The increasing use of autonomous and semi-autonomous agents in society has made it crucial to validate their safety. However, the complex scenarios in which they are used may make formal verification impossible. To address this challenge,…

This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…

The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…

This paper examines the verification of stability, a control requirement, over discrete control systems represented as Simulink diagrams, using different model checking approaches and tools. Model checking comprises the (exhaustive)…

Using probabilities in the formal-methods-based development of safety-critical software has quickened interests in academia and industry. We address this area by our model-driven engineering method for reactive systems SPACE and its…

Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with…

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…

Modern-day autonomous vehicles are increasingly becoming complex multidisciplinary systems composed of mechanical, electrical, electronic, computing and information sub-systems. Furthermore, the individual constituent technologies employed…