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Towards flexible runtime monitoring support for ROS-based applications

Authors:

Michael Vierhauser,

Jane Cleland-HuangAuthors Info & Claims

RoSE '22: Proceedings of the 4th International Workshop on Robotics Software Engineering

Pages 43 - 46

https://doi.org/10.1145/3526071.3527515

Published: 02 February 2023 Publication History

Abstract

Robotic systems are becoming common in different domains and for various purposes, such as unmanned aerial vehicles performing search and rescue operations, or robots operating in manufacturing plants. Such systems are characterized by close interactions, or even collaborations, between hardware and machinery on the one hand, and humans on the other. Furthermore, as Cyber-Physical Systems (CPS) in general and robotic applications in particular typically operate in an emergent environment, unanticipated events may occur during their operation, making the need for runtime monitoring support a crucial yet often time-consuming task. Runtime monitoring typically requires establishing support for collecting data, aggregating and transporting the data to a monitoring framework for persistence and further processing, and finally, performing checks of functional and non-functional properties. In this paper, we present our initial efforts towards a flexible monitoring framework for ROS-based systems. We report on challenges for establishing runtime monitoring support and present our preliminary architecture that aims to significantly reduce the setup and maintenance effort when creating monitors and establishing constraint checks.

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Cited By

Stadler MVierhauser M(2023)ROMoSu: Flexible Runtime Monitoring Support for ROS-based Applications2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)10.1109/RoSE59155.2023.00013(53-60)Online publication date: May-2023
https://doi.org/10.1109/RoSE59155.2023.00013
Song XLi YDong ZLiu SCao JPeng X(2023)An Empirical Study on Fault Diagnosis in Robotic Systems2023 IEEE International Conference on Software Maintenance and Evolution (ICSME)10.1109/ICSME58846.2023.00030(207-219)Online publication date: 1-Oct-2023
https://doi.org/10.1109/ICSME58846.2023.00030

Index Terms

Towards flexible runtime monitoring support for ROS-based applications
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics

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Published In

cover image ACM Conferences

RoSE '22: Proceedings of the 4th International Workshop on Robotics Software Engineering

May 2022

71 pages

ISBN:9781450393171

DOI:10.1145/3526071

Conference Chairs:
Andreas Angerer
XITASO GmbH, Germany
,
Federico Ciccozzi
Mälardalen University, Västerås, Sweden
,
Ivano Malavolta
Vrije Universiteit Amsterdam, The Netherlands
,
Andreas Wortmann
University of Stuttgart, Germany

Copyright © 2022 ACM.

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Published: 02 February 2023

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Linz Institute of Technology

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ICSE '22: 44th International Conference on Software Engineering

May 9, 2022

Pennsylvania, Pittsburgh

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2025 IEEE/ACM 46th International Conference on Software Engineering

April 26 - May 3, 2025

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Cited By

Stadler MVierhauser M(2023)ROMoSu: Flexible Runtime Monitoring Support for ROS-based Applications2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)10.1109/RoSE59155.2023.00013(53-60)Online publication date: May-2023
https://doi.org/10.1109/RoSE59155.2023.00013
Song XLi YDong ZLiu SCao JPeng X(2023)An Empirical Study on Fault Diagnosis in Robotic Systems2023 IEEE International Conference on Software Maintenance and Evolution (ICSME)10.1109/ICSME58846.2023.00030(207-219)Online publication date: 1-Oct-2023
https://doi.org/10.1109/ICSME58846.2023.00030

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