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Modeling and Verification of ROS Systems Using Stochastic Timed Automata

Fulltext:


Authors:

Peter Backeman, Cristina Seceleanu

Research group:

Formal Modelling and Analysis of Embedded Systems

Publication Type:

Report - MRTC

Venue:

MRTC Report, Mälardalen Real-Time Research Centre

Publisher:

Mälardalen Real-Time Research Centre, Mälardalen University

ISRN:

MDH-MRTC-350/2024-1-SE

Abstract

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.

Bibtex

@techreport{Backeman6963,
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 = {http://www.es.mdu.se/publications/6963-}
}