Testing, Verification and Improvements of Timeliness in ROS Processes

  • Mohammed Y. Hazim
  • Hongyang QuEmail author
  • Sandor M. Veres
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9716)


This paper addresses the problem improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot under uncertain signal processing times, methods of formal verification of timeliness properties are proposed for data flows in a ROS-based control system using Probabilistic Timed Programs (PTPs). To calculate the probability of success under certain time limits, and to demonstrate the strength of our approach, a case study is implemented for a robotic agent in terms of operational times verification using the PRISM model checker, which points to possible enhancements to the operation of the robotic agent.


ROS Verification PTP LISA 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Mohammed Y. Hazim
    • 1
  • Hongyang Qu
    • 1
    Email author
  • Sandor M. Veres
    • 1
  1. 1.Department of Automatic Control and Systems EngineeringUniversity of SheffieldSheffieldUK

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