RoboFuzz: fuzzing robotic systems over robot operating system (ROS) for finding correctness bugs
Seulbae Kim, Taesoo Kim · Proceedings of the 30th ACM Joint European Software Engineering Conference and Symposium on the Foundations of Software Engineering · 2022
Robotic systems are becoming an integral part of human lives. Responding to the increased demands for robot productions, Robot Operating System (ROS), an open-source middleware suite for robotic development, is gaining traction by providing practical tools and libraries for quickly developing robots. In this paper, we are concerned with a relatively less-tested class of bugs in ROS and ROS-based robotic systems, called semantic correctness bugs, including the violation of specification, violation of physical laws, and cyber-physical discrepancy. These bugs often stem from the cyber-physical nature of robotic systems, in which noisy hardware components are intertwined with software components, and thus cannot be detected by existing fuzzing approaches that mostly focus on finding memory-safety bugs.