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AC-ROS: assurance case driven adaptation for the robot operating system

Authors:

Betty H. C. Cheng,

Robert Jared Clark,

Jonathon Emil Fleck,

Michael Austin Langford,

Philip K. McKinleyAuthors Info & Claims

MODELS '20: Proceedings of the 23rd ACM/IEEE International Conference on Model Driven Engineering Languages and Systems

Pages 102 - 113

https://doi.org/10.1145/3365438.3410952

Published: 16 October 2020 Publication History

Abstract

Cyber-physical systems that implement self-adaptive behavior, such as autonomous robots, need to ensure that requirements remain satisfied across run-time adaptations. The Robot Operating System (ROS), a middleware infrastructure for robotic systems, is widely used in both research and industrial applications. However, ROS itself does not assure self-adaptive behavior. This paper introduces AC-ROS, which fills this gap by using assurance case models at run time to manage the self-adaptive operation of ROS-based systems. Assurance cases provide structured arguments that a system satisfies requirements and can be specified graphically with Goal Structuring Notation (GSN) models. AC-ROS uses GSN models to instantiate a ROS-based MAPE-K framework, which in turn uses these models at run time to assure system behavior adheres to requirements across adaptations. For this study, AC-ROS is implemented and tested on EvoRally, a 1:5-scale autonomous vehicle.

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Cited By

Chan KZilberman SPolanco NSiegel JCheng BBaresi LMa XPasquale L(2024)SafeDriveRL: Combining Non-cooperative Game Theory with Reinforcement Learning to Explore and Mitigate Human-based Uncertainty for Autonomous VehiclesProceedings of the 19th International Symposium on Software Engineering for Adaptive and Self-Managing Systems10.1145/3643915.3644089(214-220)Online publication date: 15-Apr-2024
https://dl.acm.org/doi/10.1145/3643915.3644089
Silva GGarcia NBozhinoski DDeshpande HOviedo MWasowski AMontero MCorbato CGrundy J(2023)MROS: A Framework for Robot Self-AdaptationProceedings of the 45th International Conference on Software Engineering: Companion Proceedings10.1109/ICSE-Companion58688.2023.00044(151-155)Online publication date: 14-May-2023
https://dl.acm.org/doi/10.1109/ICSE-Companion58688.2023.00044
Riegler MSametinger JVierhauser MWimmer M(2023)A model-based mode-switching framework based on security vulnerability scoresJournal of Systems and Software10.1016/j.jss.2023.111633200:COnline publication date: 1-Jun-2023
https://dl.acm.org/doi/10.1016/j.jss.2023.111633
Show More Cited By

Index Terms

AC-ROS: assurance case driven adaptation for the robot operating system
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Computing methodologies
  1. Modeling and simulation
    1. Model development and analysis

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cover image ACM Conferences

MODELS '20: Proceedings of the 23rd ACM/IEEE International Conference on Model Driven Engineering Languages and Systems

October 2020

406 pages

ISBN:9781450370196

DOI:10.1145/3365438

General Chairs:
Eugene Syriani
Université de Montréal, Canada
,
Houari Sahraoui
Université de Montréal, Canada

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Published: 16 October 2020

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MODELS '20: ACM/IEEE 23rd International Conference on Model Driven Engineering Languages and Systems

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Cited By

Chan KZilberman SPolanco NSiegel JCheng BBaresi LMa XPasquale L(2024)SafeDriveRL: Combining Non-cooperative Game Theory with Reinforcement Learning to Explore and Mitigate Human-based Uncertainty for Autonomous VehiclesProceedings of the 19th International Symposium on Software Engineering for Adaptive and Self-Managing Systems10.1145/3643915.3644089(214-220)Online publication date: 15-Apr-2024
https://dl.acm.org/doi/10.1145/3643915.3644089
Silva GGarcia NBozhinoski DDeshpande HOviedo MWasowski AMontero MCorbato CGrundy J(2023)MROS: A Framework for Robot Self-AdaptationProceedings of the 45th International Conference on Software Engineering: Companion Proceedings10.1109/ICSE-Companion58688.2023.00044(151-155)Online publication date: 14-May-2023
https://dl.acm.org/doi/10.1109/ICSE-Companion58688.2023.00044
Riegler MSametinger JVierhauser MWimmer M(2023)A model-based mode-switching framework based on security vulnerability scoresJournal of Systems and Software10.1016/j.jss.2023.111633200:COnline publication date: 1-Jun-2023
https://dl.acm.org/doi/10.1016/j.jss.2023.111633
Ebert SSchmerl BMaggio MCámara J(2022)Safe adaptation of cobotic cells based on petri netsProceedings of the 17th Symposium on Software Engineering for Adaptive and Self-Managing Systems10.1145/3524844.3528075(43-47)Online publication date: 18-May-2022
https://dl.acm.org/doi/10.1145/3524844.3528075

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