Robots are increasingly used to carry out critical missions in extreme environments that are hazardous for humans. This requires a high degree of operational autonomy under uncertain conditions, and poses new challenges for assuring the robot's safety and reliability. In this paper, we develop a framework for probabilistic model checking on a layered Markov model to verify the safety and reliability requirements of such robots, both at pre-mission stage and during runtime. Two novel estimators based on conservative Bayesian inference and imprecise probability model with sets of priors are introduced to learn the unknown transition parameters from operational data. We demonstrate our approach using data from a real-world deployment of unmanned underwater vehicles in extreme environments.
An effective design of effective and efficient self-adaptive systems may rely on several existing approaches. Software models and model checking techniques at run time represent one of them since they support automatic reasoning about such changes, detect harmful configurations, and potentially enable appropriate (self-)reactions. However, traditional model checking techniques and tools may not be applied as they are at run time, since they hardly meet the constraints imposed by on-the-fly analysis, in terms of execution time and memory occupation. For this reason, efficient run-time model checking represents a crucial research challenge. Service-based systems that are dynamically composed at runtime to provide complex, adaptive functionality are currently one of the main development paradigms in software engineering. However, the Quality of Service (QoS) delivered by these systems remains an important concern, and needs to be managed in an equally adaptive and predictable way. To address this need, we introduce a novel, tool-supported framework for the development of adaptive service-based systems called QoSMOS (QoS Management and Optimization of Service-based systems). QoSMOS can be used to develop service-based systems that achieve their QoS requirements through dynamically adapting to changes in the system state, environment, and workload. QoSMOS service-based systems translate high-level QoS requirements specified by their administrators into probabilistic temporal logic formulae, which are then formally and automatically analyzed to identify and enforce optimal system configurations. The QoSMOS self-adaptation mechanism can handle reliability and performance-related QoS requirements, and can be integrated into newly developed solutions or legacy systems. The effectiveness and scalability of the approach are validated using simulations and a set of experiments based on an implementation of an adaptive service-based system for remote medical assistance. Self-adaptive systems used in safety-critical and business-critical applications must continue to comply with strict non-functional requirements while evolving in order to adapt to changing workloads, environments, and goals. Runtime quantitative verification (RQV) has been proposed as an effective means of enhancing self-adaptive systems with this capability. However, RQV frequently fails to provide the fast response times and low computation overheads required by real-world self-adaptive systems. In this paper, we investigate how three techniques, namely caching, lookahead and nearly-optimal reconfiguration, and combinations thereof, can help address this limitation. Extensive experiments in a case study involving the RQV-driven self-adaptation of an unmanned underwater vehicle indicate that these techniques can lead to significant reductions in RQV response times and computation overheads. Continually verify self-adaptation decisions taken by critical software in response to changes in the operating environment.