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 http://www.ieee.org/web/publications/rights/copyrightpolicy.html)
- the use of articles under ACM copyright is governed by the ACM copyright policy (available at http://www.acm.org/pubs/copyright_policy/)
- 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 webmaster@ide.mdh.se
Pattern-Based Verification of ROS 2 Nodes using UPPAAL
Publication Type:
Conference/Workshop Paper
Venue:
FMICS 2023 - International Conference on Formal Methods for Industrial Critical Systems
Abstract
This paper proposes a pattern-based modeling and Uppaal-based verification of latencies and buffer overflow in distributed robotic systems that use ROS 2. We apply pattern-based modeling to simplify the construction of formal models for ROS 2 systems. Specifically, we propose Timed Automata templates for modeling callbacks in Uppaal, including all versions of the single-threaded executor in ROS 2. Furthermore, we demonstrate the differences in callback scheduling and potential errors in various versions of ROS 2 through experiments and model checking. Our formal models of ROS 2 systems are validated in experiments, as the behavior of ROS 2 presented in the experiments is also exposed by the execution traces of our formal models. Moreover, model checking can reveal potential errors that are missed in the experiments.
The paper demonstrates the application of pattern-based modeling and verification in distributed robotic systems, showcasing its potential in ensuring system correctness and uncovering potential errors.
Bibtex
@inproceedings{Dust6797,
author = {Lukas Dust and Rong Gu and Cristina Seceleanu and Mikael Ekstr{\"o}m and Saad Mubeen},
title = {Pattern-Based Verification of ROS 2 Nodes using UPPAAL},
month = {September},
year = {2023},
booktitle = {FMICS 2023 - International Conference on Formal Methods for Industrial Critical Systems},
url = {http://www.es.mdu.se/publications/6797-}
}