Towards Automatic Inference of Behavioral Component Models for ROS-Based Robotics Systems
Tobias Dürschmid · 2024
Model-based analysis is a common technique to identify incorrect behavioral composition of complex, safety-critical systems, such as robotics systems. However, creating structural and behavioral models for hundreds of software components manually is often a labor-intensive and error-prone process. I propose an approach to infer behavioral models for components of systems based on the Robot Operating System (ROS), the most popular framework for robotics systems, using a combination of static and dynamic analysis by exploiting assumptions about the usage of the ROS framework. This work is a contribution towards making well-proven and powerful but infrequently used methods of model-based analysis more accessible and economical in practice to make robotics systems more reliable and safer.