A containerized ROS-compliant verification environment for robotic systems

• Main Authors: Aldegheri, Stefano, Bombieri, Nicola, Germiniani, Samuele, Moschin, Federico, Pravadelli, Graziano
• Format: Conference Proceeding
• Language: English
• Subjects: Computer architecture; docker; Edge computing; LTL; Mobile robots; Monitoring; monitors; Real-time systems; ROS; Simultaneous localization and mapping; Three-dimensional displays; verification
• ISSN: 1558-1101
• DOI: 10.23919/DATE51398.2021.9474167

This paper proposes an architecture and a related automatic flow to generate, orchestrate and deploy a ROS-compliant verification environment for robotic systems. The architecture enables assertion-based verification by exploiting monitors automatically synthesized from LTL assertions. The monitors are encapsulated in plug-and-play ROS nodes that do not require any modification to the system under verification (SUV). To guarantee both verification accuracy and real-time constraints of the system in a resource-constrained environment even after the monitor integration, we define a novel approach to move the monitor evaluation across the different layers of an edge-to-cloud computing platform. The verification environment is containerized for both cloud and edge computing using Docker to enable system portability and to handle, at run-time, the resources allocated for verification. The effectiveness and efficiency of the proposed architecture have been evaluated on a complex distributed system implementing a mobile robot path planner based on 3D simultaneous localization and mapping.