Advertisement

ROSRV: Runtime Verification for Robots

  • Jeff Huang
  • Cansu Erdogan
  • Yi Zhang
  • Brandon Moore
  • Qingzhou Luo
  • Aravind Sundaresan
  • Grigore Rosu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8734)

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.

Keywords

Linear Temporal Logic Access Control Policy Virtual Machine Monitor Robot Operating System Runtime Verification 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Kalakrishnan, M., Chitta, S., Theodorou, E., Pastor, P., Schaal, S.: STOMP: Stochastic trajectory optimization for motion planning. In: ICRA, pp. 4569–4574. IEEE (2011)Google Scholar
  2. 2.
    Klank, U., Carton, D., Beetz, M.: Transparent object detection and reconstruction on a mobile platform. In: ICRA, pp. 5971–5978. IEEE (2011)Google Scholar
  3. 3.
    Pitzer, B., Styer, M., Bersch, C., DuHadway, C., Becker, J.: Towards perceptual shared autonomy for robotic mobile manipulation. In: ICRA, pp. 6245–6251. IEEE (2011)Google Scholar
  4. 4.
    Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)Google Scholar
  5. 5.
    Roşu, G., Chen, F.: Semantics and algorithms for parametric monitoring. Logical Methods in Computer Science 8(1), 1–47 (2012)Google Scholar
  6. 6.
    ROS contributors. ROS Multimaster, http://wiki.ros.org/rocon_multimaster (accessed April 25, 2014)
  7. 7.
    ROS contributors. ROS technical overview, http://wiki.ros.org/ROS/Technical%20Overview (accessed April 25, 2014)
  8. 8.
    ROS contributors. ROS.org, http://wiki.ros.org (accessed April 25, 2014)

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Jeff Huang
    • 1
  • Cansu Erdogan
    • 1
  • Yi Zhang
    • 1
  • Brandon Moore
    • 1
  • Qingzhou Luo
    • 1
  • Aravind Sundaresan
    • 2
  • Grigore Rosu
    • 1
  1. 1.University of Illinois at Urbana-ChampaignUSA
  2. 2.SRI InternationalMenlo ParkUSA

Personalised recommendations