Abstract
The Robot Operating System (ROS) is nowadays one of the most popular frameworks for developing robotic applications. To ensure the (much needed) dependability and safety of such applications we forecast an increasing demand for ROS-specific coding standards, static analyzers, and tools alike. Unfortunately, the development of such standards and tools can be hampered by ROS modularity and configurability, namely the substantial number of primitives (and respective variants) that must, in principle, be considered. To quantify the severity of this problem, we have mined a large number of existing ROS packages to understand how its primitives are used in practice, and to determine which combinations of primitives are most popular. This paper presents and discusses the results of this study, and hopefully provides some guidance for future standardization efforts and tool developers.

Abstract
The advancement of constraint solvers and model checkers has enabled the effective analysis of high-level formal specification languages. However, these typically handle a specification in an opaque manner, amalgamating all its constraints in a single monolithic verification task, which often proves to be a performance bottleneck. This paper addresses this issue by proposing a solving strategy that exploits user-provided partial knowledge, namely by assigning symbolic bounds to the problem’s variables, to automatically decompose a verification task into smaller ones, which are prone to being independently analyzed in parallel and with tighter search spaces. An effective implementation of the technique is provided as an extension to the Kodkod relational constraint solver. Evaluation shows that, in average, the proposed technique outperforms the regular amalgamated verification procedure.

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Abstract
Robotic technologies are continuously transforming the domestic and the industrial environments. Recently the Robotic Operating System (ROS), has been widely adopted both by industry and academia, becoming one of the most popular middleware frameworks for developing robot applications. Guaranteeing the correct behaviour of robotic systems is, however, challenging due to their potential for parameterization and heterogeneity. Although different approaches exist, focusing on concrete domain spaces for specific scenarios, no general approach to reason about ROS systems has yet arisen. This paper proposes an approach to model and verify ROS systems using real time properties, focusing on one of the main features of ROS, the communication between nodes. It takes low-level parameters into account, such as queue sizes and timeouts, and uses timed automata as the modelling language. The robot Kobuki is used as a complex case study, over which properties are automatically verified using the UPPAAL model checker, enabling the identification of problematic parameter combinations.

Abstract
Today's software systems must accommodate a wide range of usage and deployment scenarios. The increasing size and heterogeneity of software-intensive systems, dynamic and critical operating conditions, fast moving and highly competitive markets, and increasingly powerful and versatile hardware makes it more and more difficult to handle the additional complexity in design caused by variability. This paper reports results of the Second International Workshop on Variability and Complexity in Software Design. It also outlines directions the field might move in the future.