{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,2]],"date-time":"2026-01-02T07:49:53Z","timestamp":1767340193275,"version":"3.40.3"},"publisher-location":"Cham","reference-count":20,"publisher":"Springer Nature Switzerland","isbn-type":[{"type":"print","value":"9783031851339"},{"type":"electronic","value":"9783031851346"}],"license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025]]},"DOI":"10.1007\/978-3-031-85134-6_13","type":"book-chapter","created":{"date-parts":[[2025,3,20]],"date-time":"2025-03-20T04:01:45Z","timestamp":1742443305000},"page":"295-325","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Verifying ROS-Based Applications Using Timed and\u00a0Stochastic Timed Automata"],"prefix":"10.1007","author":[{"given":"Peter","family":"Backeman","sequence":"first","affiliation":[]},{"given":"Cristina","family":"Seceleanu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,3,21]]},"reference":[{"key":"13_CR1","doi-asserted-by":"crossref","unstructured":"Aceto, L., et al.: Modelling and simulation of asynchronous real-time systems using timed rebeca. In: Proceedings 10th International Workshop on the Foundations of Coordination Languages and Software Architectures, FOCLASA 2011, vol. 58 of EPTCS, pp. 1\u201319 (2011)","DOI":"10.4204\/EPTCS.58.1"},{"key":"13_CR2","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"8","DOI":"10.1007\/3-540-48683-6_3","volume-title":"Computer Aided Verification","author":"R Alur","year":"1999","unstructured":"Alur, R.: Timed automata. In: Halbwachs, N., Peled, D. (eds.) CAV 1999. LNCS, vol. 1633, pp. 8\u201322. Springer, Heidelberg (1999). https:\/\/doi.org\/10.1007\/3-540-48683-6_3"},{"key":"13_CR3","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1007\/978-3-319-22102-1_3","volume-title":"Interactive Theorem Proving","author":"A Anand","year":"2015","unstructured":"Anand, A., Knepper, R.: ROSCoq: robots powered by constructive reals. In: Urban, C., Zhang, X. (eds.) ITP 2015. LNCS, vol. 9236, pp. 34\u201350. Springer, Cham (2015). https:\/\/doi.org\/10.1007\/978-3-319-22102-1_3"},{"key":"13_CR4","volume-title":"Principles of Model Checking (Representation and Mind Series)","author":"C Baier","year":"2008","unstructured":"Baier, C., Katoen, J.-P.: Principles of Model Checking (Representation and Mind Series). The MIT Press, Cambridge (2008)"},{"key":"13_CR5","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"87","DOI":"10.1007\/978-3-540-27755-2_3","volume-title":"Lectures on Concurrency and Petri Nets","author":"J Bengtsson","year":"2004","unstructured":"Bengtsson, J., Yi, W.: Timed automata: semantics, algorithms and tools. In: Desel, J., Reisig, W., Rozenberg, G. (eds.) ACPN 2003. LNCS, vol. 3098, pp. 87\u2013124. Springer, Heidelberg (2004). https:\/\/doi.org\/10.1007\/978-3-540-27755-2_3"},{"key":"13_CR6","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"260","DOI":"10.1007\/978-3-642-35632-2_25","volume-title":"Runtime Verification","author":"P Bulychev","year":"2013","unstructured":"Bulychev, P., David, A., Larsen, K.G., Legay, A., Li, G., Poulsen, D.B.: Rewrite-based statistical model checking of WMTL. In: Qadeer, S., Tasiran, S. (eds.) RV 2012. LNCS, vol. 7687, pp. 260\u2013275. Springer, Heidelberg (2013). https:\/\/doi.org\/10.1007\/978-3-642-35632-2_25"},{"key":"13_CR7","doi-asserted-by":"crossref","unstructured":"Carvalho, R., Cunha, A., Macedo, N., Santos, A.: Verification of system-wide safety properties of ros applications. In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2020)","DOI":"10.1109\/IROS45743.2020.9341085"},{"key":"13_CR8","doi-asserted-by":"crossref","unstructured":"Cowley, A., Taylor, C.J.: Towards language-based verification of robot behaviors. In: 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4776\u20134782 (2011)","DOI":"10.1109\/IROS.2011.6095028"},{"key":"13_CR9","doi-asserted-by":"crossref","unstructured":"Dust, L., Gu, R., Seceleanu, C., Ekstr\u00f6m, M., Mubeen, S.: Pattern-based verification of ROS 2 nodes using uppaal. In: Formal Methods for Industrial Critical Systems (FMICS), pp. 57\u201375. Springer, Cham (2023)","DOI":"10.1007\/978-3-031-43681-9_4"},{"key":"13_CR10","doi-asserted-by":"publisher","first-page":"349","DOI":"10.1016\/j.promfg.2020.01.045","volume":"38","author":"E Er\u0151s","year":"2019","unstructured":"Er\u0151s, E., Dahl, M., Bengtsson, K., Hanna, A., Falkman, P.: A ROS2 based communication architecture for control in collaborative and intelligent automation systems. Procedia Manuf. 38, 349\u2013357 (2019)","journal-title":"Procedia Manuf."},{"key":"13_CR11","doi-asserted-by":"crossref","unstructured":"Halder, R., Proen\u00e7a, J., Macedo, N., Santos, A.: Formal verification of ROS-based robotic applications using timed-automata. In: 2017 IEEE\/ACM 5th International FME Workshop on Formal Methods in Software Engineering (FormaliSE), pp. 44\u201350 (2017)","DOI":"10.1109\/FormaliSE.2017.9"},{"issue":"1\u20132","key":"13_CR12","doi-asserted-by":"publisher","first-page":"134","DOI":"10.1007\/s100090050010","volume":"1","author":"KG Larsen","year":"1997","unstructured":"Larsen, K.G., Pettersson, P., Yi, W.: UPPAAL in a nutshell. Int. J. Softw. Tools Technol. Transf. 1(1\u20132), 134\u2013152 (1997)","journal-title":"Int. J. Softw. Tools Technol. Transf."},{"key":"13_CR13","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"478","DOI":"10.1007\/978-3-319-91908-9_23","volume-title":"Computing and Software Science","author":"A Legay","year":"2019","unstructured":"Legay, A., Lukina, A., Traonouez, L.M., Yang, J., Smolka, S.A., Grosu, R.: Statistical model checking. In: Steffen, B., Woeginger, G. (eds.) Computing and Software Science. LNCS, vol. 10000, pp. 478\u2013504. Springer, Cham (2019). https:\/\/doi.org\/10.1007\/978-3-319-91908-9_23"},{"key":"13_CR14","doi-asserted-by":"publisher","first-page":"1324","DOI":"10.1007\/s11390-020-0537-8","volume":"35","author":"Q-Q Lin","year":"2020","unstructured":"Lin, Q.-Q., Wang, S.-L., Zhan, B.-H., Bin, G.: Modelling and verification of real-time publish and subscribe protocol using uppaal and simulink\/stateflow. J. Comput. Sci. Technol. 35, 1324\u20131342 (2020)","journal-title":"J. Comput. Sci. Technol."},{"issue":"66","key":"13_CR15","doi-asserted-by":"publisher","first-page":"eabm6074","DOI":"10.1126\/scirobotics.abm6074","volume":"7","author":"S Macenski","year":"2022","unstructured":"Macenski, S., Foote, T., Gerkey, B., Lalancette, C., Woodall, W.: Robot operating system 2: Design, architecture, and uses in the wild. Sci. Rob. 7(66), eabm6074 (2022)","journal-title":"Sci. Rob."},{"key":"13_CR16","unstructured":"Quigley, M., et\u00a0al.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software, Kobe, Japan, vol. 3, p.\u00a05 (2009)"},{"key":"13_CR17","doi-asserted-by":"crossref","unstructured":"Reke, M., et al.: A self-driving car architecture in ROS2. In: 2020 Int. SAUPEC\/RobMech\/PRASA Conference, pp. 1\u20136 (2020)","DOI":"10.1109\/SAUPEC\/RobMech\/PRASA48453.2020.9041020"},{"key":"13_CR18","doi-asserted-by":"crossref","unstructured":"Teper, H., G\u00fcnzel, M., Ueter, N., von\u00a0der Br\u00fcggen, G., Chen, J.J.: End-To-End timing analysis in ROS2. In: 2022 IEEE Real-Time Systems Symposium (RTSS), pp. 53\u201365 (2022)","DOI":"10.1109\/RTSS55097.2022.00015"},{"key":"13_CR19","unstructured":"Trinh, H.H., Sirjani, M., Moradi, F., Cicchetti, A., Ciccozzi, F.: Combining model-based development and formal verification of a complex ROS2 multi-robots system using Timed Rebeca. In: International Workshop on Reliability Engineering Methods for Autonomous Robots - REMARO 2024 (2024)"},{"issue":"2","key":"13_CR20","doi-asserted-by":"publisher","first-page":"186","DOI":"10.1109\/THMS.2015.2425139","volume":"46","author":"M Webster","year":"2016","unstructured":"Webster, M., et al.: Toward reliable autonomous robotic assistants through formal verification: a case study. IEEE Trans. Human-Mach. Syst. 46(2), 186\u2013196 (2016)","journal-title":"IEEE Trans. Human-Mach. Syst."}],"container-title":["Lecture Notes in Computer Science","Rebeca for Actor Analysis in Action"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-85134-6_13","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T08:38:46Z","timestamp":1743496726000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-85134-6_13"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"ISBN":["9783031851339","9783031851346"],"references-count":20,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-85134-6_13","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"21 March 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}