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https://hdl.handle.net/1822/71065
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Campo DC | Valor | Idioma |
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dc.contributor.author | Carvalho, Renato | por |
dc.contributor.author | Cunha, Alcino | por |
dc.contributor.author | Macedo, Nuno | por |
dc.contributor.author | Santos, André | por |
dc.date.accessioned | 2021-03-30T08:06:43Z | - |
dc.date.available | 2021-03-30T08:06:43Z | - |
dc.date.issued | 2020 | - |
dc.identifier.citation | R. Carvalho, A. Cunha, N. Macedo and A. Santos, "Verification of system-wide safety properties of ROS applications," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 7249-7254, doi: 10.1109/IROS45743.2020.9341085. | por |
dc.identifier.isbn | 9781728162126 | por |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://hdl.handle.net/1822/71065 | - |
dc.description.abstract | 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. | por |
dc.description.sponsorship | The authors are with Universidade do Minho and INESC TEC, Portugal. The first author was supported by the ERDF -European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation -COMPETE 2020 and by National Funds through the Portuguese funding agency, FCT -Fundacao para a Ciencia e a Tecnologia, within project POCI-01-0145-FEDER-016826. The remaining were financed by the ERDF through COMPETE 2020 and by National Funds through the FCT within project POCI-01-0145-FEDER-029583. They would like to thank Filipe Santos and Lu ' is Santos for supporting the analysis of AgRob V16. | por |
dc.language.iso | eng | por |
dc.publisher | IEEE | por |
dc.rights | openAccess | por |
dc.title | Verification of system-wide safety properties of ROS applications | por |
dc.type | conferencePaper | por |
dc.peerreviewed | yes | por |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/9341085 | por |
oaire.citationStartPage | 7249 | por |
oaire.citationEndPage | 7254 | por |
dc.date.updated | 2021-03-30T06:48:34Z | - |
dc.identifier.doi | 10.1109/IROS45743.2020.9341085 | por |
dc.subject.fos | Ciências Naturais::Ciências da Computação e da Informação | por |
dc.subject.wos | Science & Technology | por |
sdum.export.identifier | 10188 | - |
sdum.journal | IEEE International Conference on Intelligent Robots and Systems | por |
sdum.conferencePublication | 2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | por |
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Ficheiro | Descrição | Tamanho | Formato | |
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P-00T-J78.pdf | 2,05 MB | Adobe PDF | Ver/Abrir |