Abstract
We present ROSRV, a runtime verification framework for robotic applications on top of the Robot Operating System (ROS [8]), a widely used open-source framework for robot software development. ROSRV aims to address the safety and security issues of robots by providing a transparent monitoring infrastructure that intercepts and monitors the commands and messages passing through the system. Safety and security properties can be defined in a formal specification language, and are ensured by automatically generated monitors. ROSRV integrates seamlessly with ROS—no change in ROS nor the application code is needed. ROSRV has been applied and evaluated on a commercial robot.
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© 2014 Springer International Publishing Switzerland
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Huang, J. et al. (2014). ROSRV: Runtime Verification for Robots. In: Bonakdarpour, B., Smolka, S.A. (eds) Runtime Verification. RV 2014. Lecture Notes in Computer Science, vol 8734. Springer, Cham. https://doi.org/10.1007/978-3-319-11164-3_20
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DOI: https://doi.org/10.1007/978-3-319-11164-3_20
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-11163-6
Online ISBN: 978-3-319-11164-3
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