Hazim, M.Y., Qu, H. orcid.org/0000-0002-1643-8926 and Veres, S.M. (2016) Testing, Verification and Improvements of Timeliness in ROS Processes. In: Alboul , L., Damian, D. and Aitken, J., (eds.) Towards Autonomous Robotic Systems, TAROS 2016. Towards Autonomous Robotic Systems 17th Annual Conference, TAROS 2016, 26 Jun - 01 Jul 2016, Sheffield, UK. Lecture Notes in Computer Science (9716). Springer Verlag , pp. 146-157. ISBN 978-3-319-40378-6
Abstract
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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © Springer International Publishing Switzerland 2016. This is an author produced version of a paper subsequently published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | ROS; Verification; PTP; LISA |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 01 May 2018 12:31 |
Last Modified: | 19 Dec 2022 13:49 |
Published Version: | https://doi.org/10.1007/978-3-319-40379-3_15 |
Status: | Published |
Publisher: | Springer Verlag |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-319-40379-3_15 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:130118 |