This is the repository for the Model-based Verification and Monitoring for Safe and Responsive Reactive Robots SIMPAR 2025 paper

overview

The repo has a docker with the dockerfiles contained in the folder docker/

all the properties and the monitor are inside the folder monitoring/

all the code for the execution of BT and skills is inside the folder code/

all the models for the SCAN execution are inside the folders model-high-level/, model_scxml/ and specifications/

prerequisites

if you want to execute the docker you just need to install docker compose as explained here

execution

monitoring

to execute the monitoring:

cd docker
docker compose build
docker compose up ros2monitorProp1

if you want to change the properties you just need to change the property number on the docker compose up

to close everything run docker compose down

if you want to modify the property, edit the property in the folder monitoring and then run from the root folder

docker build  -f "docker/Dockerfile.custom_prop1" -t ste93/mbvm:simpar2025 .

as before if the property is another one you only need to change the number of the property

SCAN

to execute SCAN: