A Framework for the Runtime Monitoring and Verification of Distributed Automated Cyber-Physical Systems using ROS
Pedro José Santos Oliveira · Open Repository of the University of Porto (University of Porto) · 2020
The Robot Operating System (ROS) is becoming more and more adopted as a reference framework for the development of Cyber-Physical Systems (CPS), as a well-featured distributed system that facilitates and regulates communication between distributed applications through a publishsubscribe architecture.Given the critical levels of many CPS applications, it becomes fundamental that we have proper means to observe and verify the system during its operation.One way is to follow an approach based on runtime monitoring and verification, but these approaches require strict management of the events observed in the system.ROS lacks such means of enable monitoring and verification, and the results of this thesis aim at filling that gap.In this thesis we present a runtime monitoring and verification framework that implements an instrumentation technique that we use to monitor inferred events from ROS topics, detect ROS nodes intrusion, and estimate traces of the states of the system to enable the coupling of monitors specified using formal language with our monitoring framework.We have validated our proposal in two different simulators, in an automotive scenario.We also performed some initial tests that indicate that the overhead introduced could be acceptable to some classes of CPS, at least in simulations, in order to increase their accuracy.