ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topics
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866909398542057472 |
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| author | Saadat, Maryam Ghaffari Ferrando, Angelo Dennis, Louise A. Fisher, Michael |
| author_facet | Saadat, Maryam Ghaffari Ferrando, Angelo Dennis, Louise A. Fisher, Michael |
| contents | Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both topics and services while considering the order in which messages are published and received. The framework has been enhanced to support these novel features for ROS1 -- and partially ROS2 environments -- offering improved real-time support, security, scalability, and interoperability. We discuss the modifications made to accommodate these advancements and present results obtained from a case study involving the runtime monitoring of specific components of a fire-fighting Uncrewed Aerial Vehicle (UAV). |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_14367 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topics Saadat, Maryam Ghaffari Ferrando, Angelo Dennis, Louise A. Fisher, Michael Software Engineering Artificial Intelligence Robotics Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both topics and services while considering the order in which messages are published and received. The framework has been enhanced to support these novel features for ROS1 -- and partially ROS2 environments -- offering improved real-time support, security, scalability, and interoperability. We discuss the modifications made to accommodate these advancements and present results obtained from a case study involving the runtime monitoring of specific components of a fire-fighting Uncrewed Aerial Vehicle (UAV). |
| title | ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topics |
| topic | Software Engineering Artificial Intelligence Robotics |
| url | https://arxiv.org/abs/2411.14367 |