185,316 research outputs found

    SOTER on ROS: A Run-Time Assurance Framework on the Robot Operating System

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    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 time, especially when complex, off-the-shelf components are used that cannot be verified easily. SOTER addresses this by providing a language-based approach for run-time assurance for DMR systems. SOTER implements the reactive robotic software using the language P, a domain-specific language designed for implementing asynchronous event-driven systems, along with an integrated run-time assurance system that allows programmers to use unfortified components but still provide safety guarantees. We describe an implementation of SOTER for ROS and demonstrate its efficacy using a multi-robot surveillance case study, with multiple run-time assurance modules. Through rigorous simulation, we show that SOTER enabled systems ensure safety, even when using unknown and untrusted components.Comment: 20th International Conference on Runtime Verificatio

    Modeling the object-oriented software process: OPEN and the unified process

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    A short introduction to software process modeling is presented, particularly object-oriented modeling. Two major industrial process models are discussed: the OPEN model and the Unified Process model. In more detail, the quality assurance in the Unified Process tool (formally called Objectory) is reviewed

    An Embedded Domain Specific Language to Model, Transform and Quality Assure Business Processes in Business-Driven Development

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    In Business-Driven Development (BDD), business process models are produced by business analysts. To ensure that the business requirements are satisfied, the IT solution is directly derived through a process of model refinement. If models do not contain all the required technical details or contain errors, the derived implementation would be incorrect and the BDD lifecycle would have to be repeated. In this project we present a functional domain specific language embedded in Haskell, with which: 1) models can rapidly be produced in a concise and abstract manner, 2) enables focus on the specifications rather than the implementation, 3) ensures that all the required details, to generate the executable code, are specified, 4) models can be transformed, analysed and interpreted in various ways, 5) quality assures models by carrying out three types of checks; by Haskell.s type checker, at construction-time and by functions that analyse the soundness of models, 6) enables users to define quality assured composite model transformations

    SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems

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    The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques. This trend makes it challenging to provide strong design-time certification of correct operation. To address these challenges, we present SOTER, a robotics programming framework with two key components: (1) a programming language for implementing and testing high-level reactive robotics software and (2) an integrated runtime assurance (RTA) system that helps enable the use of uncertified components, while still providing safety guarantees. SOTER provides language primitives to declaratively construct a RTA module consisting of an advanced, high-performance controller (uncertified), a safe, lower-performance controller (certified), and the desired safety specification. The framework provides a formal guarantee that a well-formed RTA module always satisfies the safety specification, without completely sacrificing performance by using higher performance uncertified components whenever safe. SOTER allows the complex robotics software stack to be constructed as a composition of RTA modules, where each uncertified component is protected using a RTA module. To demonstrate the efficacy of our framework, we consider a real-world case-study of building a safe drone surveillance system. Our experiments both in simulation and on actual drones show that the SOTER-enabled RTA ensures the safety of the system, including when untrusted third-party components have bugs or deviate from the desired behavior

    Towards Identifying and closing Gaps in Assurance of autonomous Road vehicleS - a collection of Technical Notes Part 1

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    This report provides an introduction and overview of the Technical Topic Notes (TTNs) produced in the Towards Identifying and closing Gaps in Assurance of autonomous Road vehicleS (Tigars) project. These notes aim to support the development and evaluation of autonomous vehicles. Part 1 addresses: Assurance-overview and issues, Resilience and Safety Requirements, Open Systems Perspective and Formal Verification and Static Analysis of ML Systems. Part 2: Simulation and Dynamic Testing, Defence in Depth and Diversity, Security-Informed Safety Analysis, Standards and Guidelines
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