You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact

Modeling and Verification of ROS Systems Using Stochastic Timed Automata


Publication Type:

Report - MRTC


MRTC Report, Mälardalen Real-Time Research Centre


Mälardalen Real-Time Research Centre, Mälardalen University




Robotic systems often operate under real-time constraints, requiring timely responses to sensor inputs. Early consideration of such requirements during design is advantageous. The Robot Operating System (ROS) provides a mature framework for system setup and communication, with ROS2 offering real-time capabilities. However, determining the maximum reaction time within a ROS network is intricate due to complex variable processing and scheduling, especially with periodic and event-triggered tasks. In this report, we propose a model of ROS-based structural designs with timed automata semantics, facilitating real-time behavior analysis. We extend this model to incorporate non-deterministic execution time and probabilistic loads, employing statistical model checking (SMC) for scalability and accuracy. We compare against previous work to confirm the validity of our approach.


author = {Peter Backeman and Cristina Seceleanu},
title = {Modeling and Verification of ROS Systems Using Stochastic Timed Automata},
month = {June},
year = {2024},
publisher = {M{\"a}lardalen Real-Time Research Centre, M{\"a}lardalen University},
url = {}