2026-09-20T01:22:54Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/72807 2023-07-11 col_2142_5131 col_2142_10761 com_2142_5130 com_2142_10755 com_2142_234

Rosu, Grigore Erdogan, Cansu 2015-01-21T19:48:24Z 2015-01-21T19:48:24Z 2014-12 2015-01-21 2014-12 The Robot Operating System (ROS) is a widely used open-source framework for robot software development. Its increasing popularity, along with its renowned features, such as its dynamic and distributed nature, call for a safety and security protection mechanism which is not supplied as part of the framework. This thesis presents ROSRV, a runtime verification framework for ROS. ROSRV aims to address vulnerabilities in ROS in order to build more reliable robots by enforcing security policies and monitoring safety properties. It integrates with ROS seamlessly; in other words, it does not require any change to the ROS source code or the robot software. ROSRV has three major components: (1) a tool that provides an expressive formal specification language to define safety properties, and automatically generates monitors out of them, (2) a proxy node that manages these monitors which transparently intercept and observe messages exchanged by the computational units of ROS to ensure the system behaves as desired, and (3) an access control policy administered by the proxy node to restrict the impact of individual units on the overall system. ROSRV has been tested on a commercial robot running ROS and the evaluations showed promising results. Item withdrawn by Laura Spradlin (lspradl2@illinois.edu) on 2014-12-08T17:21:14Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Erdogan_Cansu.pdf: 1760837 bytes, checksum: d013540034e24a62da56efec3575294a (MD5) Made available in DSpace on 2015-01-21T19:48:24Z (GMT). No. of bitstreams: 1 Cansu_Erdogan.pdf: 1760837 bytes, checksum: d013540034e24a62da56efec3575294a (MD5) http://hdl.handle.net/2142/72807 en Copyright 2014 Cansu Erdogan Runtime Verification Monitoring Access Control Robot Operating System (ROS) ROSRV: runtime verification for the Robot Operating System text Computer Science 1434 Computer Science 0112 University of Illinois at Urbana-Champaign Thesis M.S. MS:Computer Science -UIUC 10KS0112MS