Rate impact analysis in robotic systems

Sharma, Nishant; Elbaum, Sebastian; Detweiler, Carrick

doi:10.1109/icra.2017.7989240

Cited by 3 publications

(3 citation statements)

References 15 publications

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“…Taking in HPL behavioural specifications, this plug-in 10 generates runtime monitors and property-based tests. It converts each property into a testing schema -a strategy to narrow down traces of messages that falsify the input property.…”

Section: Testing and Runtime Verificationmentioning

confidence: 99%

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The High-Assurance ROS Framework

Santos

Cunha

Macedo

2021

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)

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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 foundation to automatically extract models from the source code. Such models are later used to enable other sorts of analyses, such as Model Checking, Runtime Verification, and Property-based Testing. It has been applied to multiple real-world examples, helping developers find and correct various issues. 1

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Section: Testing and Runtime Verificationmentioning

confidence: 99%

“…Automatic model extraction from ROS source code, using static analysis has been done in [9] and [10]. However, these approaches focus only on the publisher-subscriber aspect, neglecting ROS services and parameters.…”

Section: Related Workmentioning

confidence: 99%

The High-Assurance ROS Framework

Santos

Cunha

Macedo

2021

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)

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“…Purundare et al [8] propose a technique that extracts from C++ code a model of the message flow between components to identify code changes that may impact message-passing. Sharma et al [9] also address the impact of code changes by extracting a data flow model from C++ code, but focus on the impact to the rate of message publication. Muscedere et al [10] focus on the detection of feature interaction symptoms by extracting a "factbase" from C++ code, over which user-defined code queries are executed.…”

Section: Related Workmentioning

confidence: 99%

Verification of system-wide safety properties of ROS applications

Carvalho

Cunha

Macedo

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Robots are currently deployed in safety-critical domains but proper techniques to assess the functional safety of their software are yet to be adopted. This is particularly critical in ROS, where highly configurable robots are built by composing third-party modules. To promote adoption, we advocate the use of lightweight formal methods, automatic techniques with minimal user input and intuitive feedback.This paper proposes a technique to automatically verify system-wide safety properties of ROS-based applications at static time. It is based in the formalization of ROS architectural models and node behaviour in Electrum, over which system-wide specifications are subsequently model checked. To automate the analysis, it is deployed as a plug-in for HAROS, a framework for the assessment of ROS software quality aimed at the ROS community. The technique is evaluated in a real robot, AgRob V16, with positive results.

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