CONtext-aware VerifIable dyNamiC dEliberation

Informations projet

CONVINCE

N° de convention de subvention: 101070227

DOI

10.3030/101070227

Projet clôturé

Date de signature de la CE 14 Juin 2022

Date de début 1 Octobre 2022

Date de fin 31 Mars 2026

Financé au titre de

• Digital, Industry and Space

Coût total

€ 4 332 400,00

Contribution de l’UE

€ 4 332 400,00

Coordonné par

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Other (5)

Models and software release Ver.1

Software release of models and components developed in the work package (SIT-L, SIT-AW). First release.

Specification of data model Ver.1

Data model specification. First release.

OSS release of major toolchain components Ver.1

Vertical prototype of reference toolchain. First release.

Software release Ver.1

Release of software components (REFINE-PLAN, SIMULATE-PLAN, COVERAGE-PLAN). First release

Software release of languages and tools Ver.1

First software release of modelling languages and translation and verification tools, i.e., M2C, SCAN, FAST-SCAN, and MOON.

Documents, reports (11)

Technical specifications and assessment methodology Ver.1

Report on the technical specification translated from the use case highlevel requirements and the ethical and regulatory perspectives First release

Specification language

Report presenting the specification language and translation tool used to describe temporal properties

Situation understanding potential anomalies

Report describing the methodology and the management of potential anomalies.

Design-time verification Ver.1

Report presenting design-time algorithms and tools verification. First release.

Modelling language

Report presenting the modelling language and translation tools used to describe knowledge about tasks skills robot and environment

High level end-user requirements

Report collecting the highlevel requirements for the use cases

Knowledge-based situation modelling Ver.1

Report describing the knowledge graph to support situation representation at run time First release

Task refinement via task and motion planning Ver.1

Report on methodologies for task and motion planning for BTs refinement. First release.

Run-time verification Ver.1

Report presenting run-time algorithms and tools verification. First release.

Planning for Root Cause Analysis and resolution Ver.1

Report on methodologies for fast planning techniques for root cause analysis and resolution. First release.

Software toolchain specifications Ver.1

Report on the specifications for the toolchain design First release

Publications

Conference proceedings (22)

Surveying Deliberation Practices and Methodological Needs in Robotics Software Engineering

Auteurs: Klauck, Michaela; Henkel, Christian; Lampacrescia, Marco; Jorgensen, Ginny
Publié dans: Lecture Notes in Computer Science ISBN: 9783032014856, 2025
Éditeur: Springer Nature Link
DOI: 10.1007/978-3-032-01486-3_19

Covered for Life: Lifelong Area Coverage under Spatiotemporal Uncertainty

Auteurs: Charlie Street*, Masoumeh Mansouri
Publié dans: ECAI 2024 NameFrontiers in Artificial Intelligence and Applications, ISSN 1879-8314
Éditeur: IOS Press

The CONVINCE Perspective on Task and Motion Planning in Dynamic Environments

Auteurs: Masoumeh Mansouri, Charlie Street, Yassin Warsame
Publié dans: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76428-8_39

Planning under Uncertainty from Behaviour Trees

Auteurs: Charlie Street, Oliver Grubb, Masoumeh Mansouri
Publié dans: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Éditeur: IEEE
DOI: 10.1109/IROS60139.2025.11246986

I2EDL: Interactive Instruction Error Detection and Localization

Auteurs: Francesco Taioli, Stefano Rosa, Alberto Castellini, Lorenzo Natale, Alessio Del Bue, Alessandro Farinelli, Marco Cristani, Yiming Wang
Publié dans: IEEE RO-MAN 2024, 2024
Éditeur: arxiv.org
DOI: 10.48550/ARXIV.2406.05080

Code Generation and Monitoring for Deliberation Components in Autonomous Robots

Auteurs: Bernagozzi, Stefano; Faraci, Sofia; Ghiorzi, Enrico; Pedemonte, Karim; Natale, Lorenzo; TACCHELLA, Armando
Publié dans: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Éditeur: IEEE
DOI: 10.5281/ZENODO.16641731

AS2FM: Enabling Statistical Model Checking of ROS 2 Systems for Robust Autonomy

Auteurs: Christian Henkel, Marco Lampacrescia, Michaela Klauck, Matteo Morelli
Publié dans: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Éditeur: IEEE
DOI: 10.1109/IROS60139.2025.11246823

Look Around and Learn: Self-Training Object Detection by Exploration

Auteurs: Gianluca Scarpellini, Stefano Rosa, Pietro Morerio, Lorenzo Natale, Alessio Del Bue
Publié dans: ECCV2024, 2024
Éditeur: arxiv.org

Challenges in Situation Understanding and Scene Perception

Auteurs: Razane Azrou, Selma Kchir, Raphaël Lallement, Matteo Morelli
Publié dans: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76428-8_35

Multi-Formation Planning and Coordination for Object Transportation

Auteurs: Weijian Zhang, Charlie Street, Masoumeh Mansouri
Publié dans: 2023 European Conference on Mobile Robots (ECMR), ISSN 2639-7919
Éditeur: IEEE
DOI: 10.1109/ECMR59166.2023.10256314

Towards Verifying Robotic Systems Using Statistical Model Checking in STORM

Auteurs: Marco Lampacrescia; Michaela Klauck; Matteo Palmas
Publié dans: Lecture Notes in Computer Science ISBN: 9783031754333, 2024
Éditeur: Springer
DOI: 10.1007/978-3-031-75434-0_28

Robots Calling the Shots: Using Multiple Ground Robots for Autonomous Tracking in Cluttered Environments

Auteurs: Weijian Zhang, Charlie Street, Masoumeh Mansouri
Publié dans: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Éditeur: IEEE
DOI: 10.1109/IROS60139.2025.11247464

Enhancing Robust Autonomy of ROS 2 Systems: Code Generation and Monitoring for Deliberation Components

Auteurs: Bernagozzi, Stefano; Faraci, Sofia; Ghiorzi, Enrico; Pedemonte, Karim; Natale, Lorenzo; TACCHELLA, Armando
Publié dans: 2025
Éditeur: IEEE
DOI: 10.5281/ZENODO.15481208

Enhancing Robust Autonomy of ROS 2 Systems: Usable Formal Verification and Reinforcement Learning

Auteurs: Klauck, Michaela; Marco Lampacrescia; Henkel, Christian; MORELLI, Matteo
Publié dans: 2025
Éditeur: IEEE
DOI: 10.5281/ZENODO.15340558

Translating Behavior Trees to Petri Nets for Model Checking

Auteurs: Matteo Palmas, Michaela Klauck, Ralph Lange, Enrico Ghiorzi, Armando Tacchella
Publié dans: 2025 ACM/IEEE 28th International Conference on Model Driven Engineering Languages and Systems (MODELS), 2025
Éditeur: IEEE
DOI: 10.1109/MODELS67397.2025.00020

Embodied Image Captioning: Self-supervised Learning Agents for Spatially Coherent Image Descriptions

Auteurs: Tommaso Galliena, Tommaso Apicella, Stefano Rosa, Pietro Morerio, Alessio Del Bue, Lorenzo Natale
Éditeur: arxiv.org
DOI: 10.48550/ARXIV.2504.08531

Efficient Quality Diversity Optimization with Monte Carlo Bayesian Sampling

Auteurs: Matteo Palmas, Varun Bhatt, Shihan Zhao, Stefanos Nikolaidis, Ralph Lange, Michaela Klauck
Publié dans: Proceedings of the Genetic and Evolutionary Computation Conference Companion, 2025
Éditeur: ACM
DOI: 10.1145/3712255.3726674

Model-based Verification and Monitoring for Safe and Responsive Robots

Auteurs: Bernagozzi, Stefano; Faraci, Sofia; Ghiorzi, Enrico; Pedemonte, Karim; Ferrando, Angelo; Natale, Lorenzo; TACCHELLA, Armando
Publié dans: 2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2025
Éditeur: IEEE
DOI: 10.5281/ZENODO.15126868

Multi-Nonholonomic Robot Object Transportation with Obstacle Crossing Using a Deformable Sheet

Auteurs: Weijian Zhang, Charlie Street, Masoumeh Mansouri
Publié dans: 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
Éditeur: IEEE
DOI: 10.1109/ICRA55743.2025.11128313

Towards Robust Autonomous Robots Using Statistical Model Checking

Auteurs: Michaela Klauck, Ralph Lange, Christian Henkel, Selma Kchir, Matteo Palmas
Publié dans: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76424-0_25

Modeling Robot Control Architectures for Verification and Monitoring

Auteurs: Stefano Bernagozzi, Angelo Ferrando, Enrico Ghiorzi, Lorenzo Natale, Armando Tacchella
Publié dans: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Éditeur: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76428-8_36

Towards a Verifiable Toolchain for Robotics

Auteurs: Street, Charlie; Warsame, Yazz; Mansouri, Masoumeh; Klauck, Michaela; Henkel, Christian; Lampacrescia, Marco; Palmas, Matteo; Lange, Ralph; Ghiorzi, Enrico; Tacchella, Armando; Azrou, Razane; Lallement, Raphaël; Morelli, Matteo; I. Chen, Ginny; Wallis, Da
Publié dans: AAAI Fall Symposium Series
Éditeur: Birmingham

Other (2)

Mind the Error! Detection and Localization of Instruction Errors in Vision-and-Language Navigation

Auteurs: Francesco Taioli, Stefano Rosa, Alberto Castellini, Lorenzo Natale, Alessio Del Bue, Alessandro Farinelli, Marco Cristani, Yiming Wang
Éditeur: arXiv
DOI: 10.48550/ARXIV.2403.10700

Execution Semantics of Behavior Trees in Robotics Applications

Auteurs: Enrico Ghiorzi, Armando Tacchella
Publié dans: 2024
Éditeur: Arxiv.org
DOI: 10.48550/ARXIV.2408.00090

Peer reviewed articles (3)

A decoupled solution to heterogeneous multi-formation planning and coordination for object transportation

Auteurs: Weijian Zhang, Charlie Street, Masoumeh Mansouri
Publié dans: Robotics and Autonomous Systems, Numéro 180, 2024, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2024.104773

Making a Complete Mess and Getting Away With It: Traveling Salesperson Problems With Circle Placement Variants

Auteurs: David Woller, Masoumeh Mansouri, Miroslav Kulich
Publié dans: IEEE Robotics and Automation Letters, Numéro 9, 2024, ISSN 2377-3766
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3445817

Formal Modelling for Multi-Robot Systems Under Uncertainty

Auteurs: Charlie Street, Masoumeh Mansouri & Bruno Lacerda
Publié dans: Current Robotics Reports, 2023, ISSN 2662-4087
Éditeur: Springer Nature
DOI: 10.1007/s43154-023-00104-0