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Formal Verification of ROS-Based Robotic Applications Using Timed-Automata

Raju Halder, Jose Proenca, Nuno Macedo, Andre Santos
2017 2017 IEEE/ACM 5th International FME Workshop on Formal Methods in Software Engineering (FormaliSE)  
This paper proposes an approach to model and verify ROS systems using real time properties, focusing on one of the main features of ROS, the communication between nodes.  ...  It takes low-level parameters into account, such as queue sizes and timeouts, and uses timed automata as the modelling language.  ...  and verify ROS-based applications; • Application of our proposed approach to the ROSbased Kobuki robot as a case study, describing the construction of a timed model from the sourcecode and the verification  ... 
doi:10.1109/formalise.2017.9 dblp:conf/icse/HalderPMS17 fatcat:hmpu5k3pjnfi5fiklowyolrley

Safe adaptation of cobotic cells based on petri nets

Sebastian Ebert
2022 Proceedings of the 17th Symposium on Software Engineering for Adaptive and Self-Managing Systems  
By using formal models, the testing effort at development time is reduced, because global behavior remains formally proven, and only local components have to be retested.  ...  To overcome these inhibitors, a model-driven development approach based on Petri nets is proposed, modeling central aspects of ROS-based cobotic cells.  ...  ACKNOWLEDGMENTS This work was funded by the German Research Foundation (DFG, Deutsche Forschungsgemeinschaft) as part of Germany's Excellence Strategy -EXC 2050/1 -Project ID 390696704 -Cluster of Excellence  ... 
doi:10.1145/3524844.3528075 fatcat:prpy3e2sqjcbrj3xszoajo7pzy

Recent Trends in Formal Validation and Verification of Autonomous Robots Software

Felix Ingrand
2019 2019 Third IEEE International Conference on Robotic Computing (IRC)  
We propose to consider the overall problem of V&V of autonomous systems software and examine the current situation with respect to the various type of software used.  ...  This is already the case for aeronautic, rail transportation, nuclear plants, medical devices, etc. were software must be certified, which possibly involve its formal validation and verification (V&V).  ...  ., 2017] proposes an interesting approach where the programmer explicitly model the robotics application in a formal framework based on timed communicating sequential process.  ... 
doi:10.1109/irc.2019.00059 dblp:conf/irc/Ingrand19 fatcat:ejocowi7l5fyxhtinkwtj5xrzq

Coverage-Driven Verification — [chapter]

Dejanira Araiza-Illan, David Western, Anthony Pipe, Kerstin Eder
2015 Lecture Notes in Computer Science  
We propose the use of Coverage-Driven Verification (CDV) to meet this challenge.  ...  We discuss the need, practical considerations, and potential benefits of transferring this approach from microelectronic design verification to the field of human-robot interaction.  ...  Acknowledgments: This work was supported by the EPSRC grants EP/K006320/1 and EP/K006223/1 "Trustworthy Robotic Assistants".  ... 
doi:10.1007/978-3-319-26287-1_5 fatcat:h3aii4inxnhubihgmqa65uypkm

Statistical Model Checking of Human-Robot Interaction Scenarios

Livia Lestingi, Mehrnoosh Askarpour, Marcello M. Bersani, Matteo Rossi
2020 Electronic Proceedings in Theoretical Computer Science  
In this paper, we present an example of how a robotic application that involves human interaction can be modeled through hybrid automata, and analyzed by using statistical model-checking.  ...  This calls for the development of robotic frameworks that can soundly guarantee that a collection of properties are verified at all times during operation.  ...  [11] model a mobile Kobuki robot ROS-based application in Uppaal, and subsequently perform model-checking to verify relevant properties about communication between nodes, e.g., that loss of information  ... 
doi:10.4204/eptcs.319.2 fatcat:fwguxiuklzfx3bknwxh6b3lmi4

Formal Specification and Verification of Autonomous Robotic Systems: A Survey [article]

Matt Luckcuck, Marie Farrell, Louise Dennis, Clare Dixon, Michael Fisher
2019 arXiv   pre-print
This paper systematically surveys the state-of-the-art in formal specification and verification for autonomous robotics.  ...  Specially, it identifies and categorises the challenges posed by, the formalisms aimed at, and the formal approaches for the specification and verification of autonomous robotics.  ...  A series of MAPE-K templates has been formally verified using Timed Automata (TA) and Timed Computation Tree Logic (TCTL) to aid in development.  ... 
arXiv:1807.00048v3 fatcat:ssc63easujgijisrznyzwo7ieq

Model-based Test Generation for Robotic Software: Automata versus Belief-Desire-Intention Agents [article]

Dejanira Araiza-Illan, Anthony G. Pipe, Kerstin Eder
2016 arXiv   pre-print
In this paper, we compare using Belief-Desire-Intention (BDI) agents as models for test generation with more conventional automata-based techniques that exploit model checking, in terms of practicality  ...  The performance of the BDI-based test generation is at least as high, and the achieved coverage is higher or equivalent, compared to test generation based on model checking automata.  ...  How does the use of BDI agents compare with model checking timed automata (TA), for model-based test generation in the HRI domain? 2.  ... 
arXiv:1609.08439v2 fatcat:gaepn6gr5vb6zacm6b542ranzq

Systematic and Realistic Testing in Simulation of Control Code for Robots in Collaborative Human-Robot Interactions [chapter]

Dejanira Araiza-Illan, David Western, Anthony G. Pipe, Kerstin Eder
2016 Lecture Notes in Computer Science  
Our results show that CDV combined with systematic test generation achieves a very high degree of automation in simulation-based verification of control code for robots in HRI.  ...  To demonstrate the effectiveness of our approach, we developed a testbench for robotic code, running in ROS-Gazebo, that implements an object handover as part of a human-robot interaction (HRI) task.  ...  Acknowledgement: This work is part of the EPSRC-funded project "Trustworthy Robotic Assistants" (refs. EP/K006320/1 and EP/K006223/1).  ... 
doi:10.1007/978-3-319-40379-3_3 fatcat:qfxne2lac5c73fnamz462rpxnq

Systematic and Realistic Testing in Simulation of Control Code for Robots in Collaborative Human-Robot Interactions [article]

Dejanira Araiza-Illan, David Western, Anthony G. Pipe, Kerstin Eder
2016 arXiv   pre-print
Our results show that CDV combined with systematic test generation achieves a very high degree of automation in simulation-based verification of control code for robots in HRI.  ...  To demonstrate the effectiveness of our approach, we developed a testbench for robotic code, running in ROS-Gazebo, that implements an object handover as part of a human-robot interaction (HRI) task.  ...  Acknowledgement: This work is part of the EPSRC-funded project "Trustworthy Robotic Assistants" (refs. EP/K006320/1 and EP/K006223/1).  ... 
arXiv:1511.01354v4 fatcat:5zqdyc4w3bcqto3ssf3bnwb3fa

A toolchain for model-based development of a robot application

Mickaël Trezzy
2020 Proceedings of the 35th Annual ACM Symposium on Applied Computing  
application based on the robotics middleware ROS.  ...  The goal of this integration is to improve the efficiency of the robot application design and development using models and components with a set of ROS concepts ready to use.  ...  The ReApp (Reusable Robot Applications for Flexible Robot Plants Based on Industrial ROS) project provides a workbench (development environment) based on ROS by using model-based design of robot applications  ... 
doi:10.1145/3341105.3374227 dblp:conf/sac/Trezzy20 fatcat:ejycsxsqffaqrdvtanu2i37xra

Reverse Engineering of Middleware for Verification of Robot Control Architectures [chapter]

Ali Khalili, Lorenzo Natale, Armando Tacchella
2014 Lecture Notes in Computer Science  
Both steps are carried out in a computer-assisted way using state-of-the-art techniques in automata-based identification and verification.  ...  Our main contribution is to show that the combination of identification and verification is feasible and useful when considering typical issues that arise in the implementation of distributed control software  ...  Formal Verification Automata-based verification -see, e.g., [3] -encompasses a broad set of algorithms and related tools, whose purpose is to verify behavioral properties of systems represented as automata  ... 
doi:10.1007/978-3-319-11900-7_27 fatcat:ffcgs5rchrgbbit62dcnuwwdma

ActivFORMS: active formal models for self-adaptation

M. Usman Iftikhar, Danny Weyns
2014 Proceedings of the 9th International Symposium on Software Engineering for Adaptive and Self-Managing Systems - SEAMS 2014  
To provide guarantees of the adaptation goals, state of the art approaches propose using formal models of the knowledge.  ...  We propose Active FORmal Models for Self-adaptation (ActivFORMS) that uses an integrated formal model of the adaptation components and knowledge models.  ...  Active Model In this research, we model feedback loops using networks of timed automata [2] .  ... 
doi:10.1145/2593929.2593944 dblp:conf/icse/IftikharW14a fatcat:3qntqhimybgt7pouo2wswiffti

Agents and Robots for Reliable Engineered Autonomy:A Perspective from the Organisers of AREA 2020

Rafael C. Cardoso, Angelo Ferrando, Daniela Briola, Claudio Menghi, Tobias Ahlbrecht
2021 Journal of Sensor and Actuator Networks  
Multi-agent systems, robotics and software engineering are large and active research areas with many applications in academia and industry.  ...  The First Workshop on Agents and Robots for reliable Engineered Autonomy (AREA), organised the first time in 2020, aims at encouraging cross-disciplinary collaborations and exchange of ideas among researchers  ...  The Robot Operating System (ROS) [7] is the de facto standard for the development of software for robotic applications. ROS supports the development of robotic applications through ROS nodes.  ... 
doi:10.3390/jsan10020033 fatcat:t5yc7cx3rrfq5dahmpgoa5pj2u

Co-Simulation of Human-Robot Collaboration: from Temporal Logic to 3D Simulation

Mehrnoosh Askarpour, Matteo Rossi, Omer Tiryakiler
2020 Electronic Proceedings in Theoretical Computer Science  
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry.  ...  In order to make our proposed formal verification framework more appealing to safety engineers, whom are usually not very fond of formal modeling and verification techniques, we decided to couple our model  ...  A similar approach is used by Webster et. al [17] where the underlying formal model is probabilistic timed automata.  ... 
doi:10.4204/eptcs.319.1 fatcat:5mjpjcpw4ncqjcpmmwrw67vkvq

Reliability and Safety of Autonomous Systems Based on Semantic Modelling for Self-Certification

Osama Zaki, Matthew Dunnigan, Valentin Robu, David Flynn
2021 Robotics  
A model for the autonomous system being diagnosed is designed using a logic-based formalism.  ...  Our findings provide evidence of the applicability of our approach for the significant challenge of run-time safety compliance and reliability in autonomous systems.  ...  Acknowledgments: The authors acknowledge the funding of the EPSRC Offshore Robotics for Certification of Assets hub (https://orcahub.org) [grant number EP/R026173/1].  ... 
doi:10.3390/robotics10010010 fatcat:4trc3q6yfrbh5gjuje7euuxuym
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