Camera Calibration with Distortion Models and Accuracy Evaluation
IEEE Transactions on Pattern Analysis and Machine Intelligence
A historical perspective on runtime assertion checking in software development
ACM SIGSOFT Software Engineering Notes
An Instrumentation-Based Approach to Controller Model Validation
Model-Driven Development of Reliable Automotive Services
PDA: Passive distributed assertions for sensor networks
IPSN '09 Proceedings of the 2009 International Conference on Information Processing in Sensor Networks
Macrodebugging: global views of distributed program execution
Proceedings of the 7th ACM Conference on Embedded Networked Sensor Systems
A domain-specific approach to architecturing error handling in pervasive computing
Proceedings of the ACM international conference on Object oriented programming systems languages and applications
IDEA: improving dependability for self-adaptive applications
Proceedings of the 2013 Middleware Doctoral Symposium
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Developing cyber-physical systems (CPS) is challenging because correctness depends on both logical and physical states, which are collectively difficult to observe. The developer often need to repeatedly rerun the system while observing its behavior and tweak the hardware and software until it meets minimum requirements. This process is tedious, error-prone, and lacks rigor. To address this, we propose BRACE, a framework that simplifies the process by enabling developers to correlate cyber (i.e., logical) and physical properties of the system via assertions. This paper presents our initial investigation into the requirements and semantics of such assertions, which we call CPS assertions. We discusses our experience implementing and using the framework with a mobile robot, and highlight key future research challenges.