Skip to main content
SpringerLink
Log in

Eliciting context-oriented NFR constraints and conflicts in robotic systems

  • SI:Systems Engineering and Security
  • Published:
Innovations in Systems and Software Engineering Aims and scope Submit manuscript

Abstract

Non-functional requirement (NFR) conflicts pose a serious threat to any system, especially robotic systems, where identifying conflicts prior to system deployment is crucial and can highly depend on different contexts, in relation to different environmental conditions. The objective of this work is to provide a simulation-based approach for the identification of NFR conflicts in different contexts for such systems. The identified conflicts can help the system designer minimize the impact and avoid failures resulting from the negligence of NFR conflicts. The simulation results are useful to infer and evaluate the different conflicts between NFRs and to study the impact of different contexts on the requirements themselves. The adopted methodology is easily reproducible in different development scenarios.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8

Similar content being viewed by others

Notes

  1. https://www.ros.org.

  2. http://wiki.ros.org/Robots/TIAGo.

  3. https://iroboteducation.github.io/create3_docs/.

  4. https://unity.com.

  5. https://navigation.ros.org.

  6. https://iroboteducation.github.io/create3_docs/.

  7. https://github.com/iRobotEducation/create3_sim.

  8. https://docs.ros.org/en/galactic/index.html.

  9. https://github.com/aws-robotics/aws-robomaker-hospital-world/tree/ros2.

  10. https://iroboteducation.github.io/create3_docs/api/reflexes/.

References

  1. Baheti R, Gill H (2011) Cyber-physical systems. In: The impact of control technology, vol 12, pp 161–166

  2. Mairiza D, Zowghi D (2010) Constructing a catalogue of conflicts among non-functional requirements. Springer, London, pp 31–44

    Google Scholar 

  3. Roy M et al (2023) Correlating contexts and NFR conflicts from event logs. Softw Syst Model

  4. Sentilles S (2012) Managing extra-functional properties in component-based development of embedded systems. Ph.D. thesis, Mälardalen University, Västerås, Sweden . http://www.es.mdu.se/publications/2563-

  5. Brugali, D (2019) Non-functional requirements in robotic systems: challenges and state of the art. IEEE, pp 743–748

  6. Vicente-Chicote C et al., de Vicente JMF & et al (2019) (eds) Modeling and estimation of non-functional properties: leveraging the power of QOS metrics. In: de Vicente JMF et al (eds) From bioinspired systems and biomedical applications to machine learning—8th international work-conference on the interplay between natural and artificial computation, IWINAC 2019, Almería, Spain, June 3–7, 2019, Vol. 11487 of lecture notes in computer science. Springer, pp 380–388. https://doi.org/10.1007/978-3-030-19651-6_37

  7. Deng Z et al (2023) Safety-aware robotic steering of a flexible endoscope for nasotracheal intubation. Biomed Signal Process Control 82:104504

    Article  Google Scholar 

  8. Thalamy P, Piranda B, Naz A, Bourgeois J (2022) Visiblesim: a behavioral simulation framework for lattice modular robots. Robot Autono Syst 147:103913

    Article  Google Scholar 

  9. Farley A, Wang J, Marshall JA (2022) How to pick a mobile robot simulator: a quantitative comparison of CoppeliaSim, Gazebo, MORSE and Webots with a focus on accuracy of motion. Simul Model Pract Theory 120:102629

    Article  Google Scholar 

  10. Roy M, Deb N, Cortesi A, Chaki R, Chaki N (2021) NFR-aware prioritization of software requirements. Syst Eng 24:158–176

    Article  Google Scholar 

  11. Serral E, Sernani P, Dragoni AF, Dalpiaz F (2017) Contextual requirements prioritization and its application to smart homes. Springer

    Book  Google Scholar 

  12. Dieber B et al (2020) Penetration testing ROS. Stud Comput Intell 831:183–225

    Article  Google Scholar 

  13. White R, Caiazza G, Christensen H, Cortesi A (2019) SROS1: using and developing secure ROS1 systems. Stud Comput Intell 778:373–405

    Article  Google Scholar 

  14. Cysneiros LM, Raffi M, & Sampaio do Prado Leite JC (2018) Software transparency as a key requirement for self-driving cars. pp 382–387

  15. Liu S & Capretz LF (2021) An analysis of testing scenarios for automated driving systems. pp 622–629

  16. Cysneiros LM, Raffi M, & Sampaio do Prado Leite JC (2018) Software transparency as a key requirement for self-driving cars. pp 382–387

  17. Blender T, Schlegel C (2020) Implementing resource adequate service robot behavior by systematic management of non-functional properties: an intralogistics use case. vol 1, pp 659–666

  18. Brugali D (2018) Modeling and analysis of safety requirements in robot navigation with an extension of uml marte. pp 439–444

  19. Samin H (2020) Priority-awareness of non-functional requirements under uncertainty. pp 416–421

  20. Wohlrab R, Meira-góes R, & Vierhauser M (2022) Run-time adaptation of quality attributes for automated planning. pp 98–105

  21. Dosovitskiy A, Ros G, Codevilla F, Lopez A & Koltun V (2017) Carla: an open urban driving simulator. PMLR, pp 1–16

  22. Pages J, Marchionni L, & Ferro F (2016) Tiago: the modular robot that adapts to different research needs. vol 290

  23. Pinciroli C et al (2012) Argos: a modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intell 6:271–295

    Article  Google Scholar 

  24. Anderson J, Anderson R, Anderson T, Bailey C, Harper M (2023) Stealth centric autonomous robot simulator (scars). Softw Impacts 16:100497

    Article  Google Scholar 

Download references

Acknowledgements

Work partially supported by SERICS (PE00000014) under the NRRP MUR program funded by the EU - NGEU, iNEST-Interconnected NordEst Innovation Ecosystem funded by PNRR (Mission 4.2, Investment 49 1.5) NextGeneration EU - Project ID: ECS 00000043, and SPIN-2021 “Ressa-Rob” funded by Ca’ Foscari University.

Author information

Authors and Affiliations

  1. Department of Environmental Sciences, Informatics and Statistics, Ca’ Foscari University, Venice, Italy

    Raunak Bag & Agostino Cortesi

  2. Department of Computer Science and Engineering, University of Calcutta, Calcutta, West Bengal, India

    Mandira Roy & Nabendu Chaki

Authors
  1. Raunak Bag
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mandira Roy
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Agostino Cortesi
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Nabendu Chaki
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

All authors equally contributed in this work.

Corresponding author

Correspondence to Mandira Roy.

Ethics declarations

Conflict of interest

The authors declare no competing interests.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Bag, R., Roy, M., Cortesi, A. et al. Eliciting context-oriented NFR constraints and conflicts in robotic systems. Innovations Syst Softw Eng (2023). https://doi.org/10.1007/s11334-023-00545-y

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s11334-023-00545-y

Keywords

Search

Navigation