ROSRV: Runtime Verification for Robots

Jeff Huang and Cansu Erdogan and Yi Zhang and Brandon Moore and Qingzhou Luo and Aravind Sundaresan and Grigore Rosu
RV'14 Springer International Publishing, Volume 8734, pp 247-254, September 2014

Abstract. We present ROSRV, a runtime verification framework for robotic applications on top of the Robot Operating System (ROS), 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.