摘要
为了保证机器人操作系统(Robot operating system,ROS)的安全性,提出一个运行时验证框架ROS-Monitor来监控系统。将所有的监控信息分为节点消息和节点行为,并实现从用户自定义场景模型自动生成相应监控器的工具。实验证明了该方法的有效性。
To ensure the security of robot operating system(ROS),this paper proposes a runtime verification framework named“ROS-Monitor”to monitor the security properties of the system.We classified all monitoring information into node message and node action.A tool was implemented to generate the corresponding monitor automatically from a user-defined scene model.The experiment shows the efficiency of this method.
作者
楚敏
邵振洲
王瑞
李晓娟
张芮
Chu Min;Shao Zhenzhou;Wang Rui;Li Xiaojuan;Zhang Rui(College of Information Engineering,Capital Normal University,Beijing 100048,China;Beijing Key Laboratory of Light Industrial Robot and Safety Verification,Capital Normal University,Beijing 100048,China)
出处
《计算机应用与软件》
北大核心
2022年第3期322-327,共6页
Computer Applications and Software
基金
国家重点研发计划项目(2017YFB1301100)。
