Digital Twin Enabled Runtime Verification for Autonomous Mobile Robots under Uncertainty

As autonomous robots increasingly navigate complex and unpredictable environments, ensuring their reliable behavior under uncertainty becomes a critical challenge. This paper introduces a digital twin-based runtime verification for an autonomous mobile robot to mitigate the impact posed by uncertainty in the deployment environment. The safety and performance properties are specified and synthesized as runtime monitors using TeSSLa. The integration of the executable digital twin, via the MQTT protocol, enables continuous monitoring and validation of the robot's behavior in real-time. We explore the sources of uncertainties, including sensor noise and environment variations, and analyze their impact on the robot safety and performance. Equipped with high computation resources, the cloud-located digital twin serves as a watch-dog model to estimate the actual state, check the consistency of the robot's actuations and intervene to override such actuations if a safety or performance property is about to be violated. The experimental analysis demonstrated high efficiency of the proposed approach in ensuring the reliability and robustness of the autonomous robot behavior in uncertain environments and securing high alignment between the actual and expected speeds where the difference is reduced by up to 41\% compared to the default robot navigation control.

RMQFMU: Bridging the Real World with Co-simulation Technical Report

In this paper we present an experience report for the RMQFMU, a plug and play tool, that enables feeding data to/from an FMI2-based co-simulation environment based on the AMQP protocol. Bridging the co-simulation to an external environment allows on one side to feed historical data to the co-simulation, serving different purposes, such as visualisation and/or data analysis. On the other side, such a tool facilitates the realisation of the digital twin concept by coupling co-simulation and hardware/robots close to real-time. In the paper we present limitations of the initial version of the RMQFMU with respect to the capability of bridging co-simulation with the real world. To provide the desired functionality of the tool, we present in a step-by-step fashion how these limitations, and subsequent limitations, are alleviated. We perform various experiments in order to give reason to the modifications carried out. Finally, we report on two case-studies where we have adopted the RMQFMU, and provide guidelines meant to aid practitioners in its use.

Ethical AI-Powered Regression Test Selection

Test automation is common in software development; often one tests repeatedly to identify regressions. If the amount of test cases is large, one may select a subset and only use the most important test cases. The regression test selection (RTS) could be automated and enhanced with Artificial Intelligence (AI-RTS). This however could introduce ethical challenges. While such challenges in AI are in general well studied, there is a gap with respect to ethical AI-RTS. By exploring the literature and learning from our experiences of developing an industry AI-RTS tool, we contribute to the literature by identifying three challenges (assigning responsibility, bias in decision-making and lack of participation) and three approaches (explicability, supervision and diversity). Additionally, we provide a checklist for ethical AI-RTS to help guide the decision-making of the stakeholders involved in the process.