Mirgita Frasheri

• PhD Student at Mälardalen University

As autonomous robots increasingly navigate complex and unpredictable environments, ensuring their reliable behavior under uncertainty becomes a critical challenge. This paper introduces a digital twin-based runtime verification for an autonomous mobile robot to mitigate the impact posed by uncertainty in the deployment environment. The safety and p...

Digital Twins (DTs) integrate models with data gathered from Physical Twin (PT) counterparts, adding value through enablers and services that allow informed decision-making about the reconfiguration of the PT, either autonomously, or by human stakeholders.We consider the potential of DTs for improving the capabilities and performance of autonomous...

We present four case studies of Digital Twins (DTs) through a DT description framework, covering 14 fundamental characteristics for each DT and its Physical Twin (PT). These characteristics uncover the diversity of the case studies, providing a deeper understanding of how these DTs interact with the real world, a sense of how they were built, and t...

This chapter explores Digital Twin (DT) services that help to support decision-making, and the instigation of change in the DT’s Physical Twin. We consider “what-if” analysis – the examination in parallel of multiple alternative scenarios – and related topics including design space exploration and fault injection. The potential of the DT in fault d...

A Digital Twin (DT) has great potential as a tool for monitoring, detecting and reporting anomalies. Such advance warning allows stakeholders to sidestep failures, or to be better prepared to recover from them. This chapter introduces modelbased and data-driven approaches to monitoring in DTs. Model-based monitoring uses definitions of properties (...

Much of the value of a digital twin depends on the extent to which the twin is kept up to date with the state of its real-world counterpart. This chapter surveys sensing and communication methods that play a key role in maintaining this relationship. The sensors making real-world observations, the characteristics of the communications infrastructur...

Countless terms of service (ToS) are being signed everyday by users all over the world while interacting with all kinds of apps and websites. More often than not, these online contracts spanning double-digit pages are signed blindly by users who simply want immediate access to the desired service. What would normally require a consultation with a l...

Digital Twins (DTs) can be constructed for many different applications, leading to substantial differences between different case studies. To be able to learn from the challenges and lessons learned by other DT practitioners, it is important that experience reports be consistent to facilitate comparisons. In this paper, we merge three reference des...

The model-based engineering of dependable robotic systems brings challenges that include the need to work effectively with a range of models, owners and operators, and addressing the extent to which the systems evolve over time. This paper explores the linking of co-simulation, which allows for the exploration of models composed of multiple diverse...

Digital Twins represent a new and disruptive technology, where digital replicas of (cyber)-physical systems operate for long periods of time alongside their (cyber)-physical counterparts, with enabled bi-directional communication between them. However promising, the development of digital twins is a non-trivial problem, since what can initially be...

Digital twins (DTs) represent a key technology in the development, real-time monitoring and optimisation of cyber–physical systems (CPSs). Such potential emerges as a result of the real-time coupling between DTs and their physical counterparts, where it is possible to make use of operational data as it is being generated in order to aid decision-ma...

In recent years, autonomous systems have become an important research area and application domain, with a significant impact on modern society. Such systems are characterized by different levels of autonomy and complex communication infrastructures that allow for collective decision-making strategies. There exist several publications that tackle et...

In this paper we present an experience report for the RMQ\-FMU, a plug and play tool, that enables feeding data to/from an FMI2-based co-simulation environment based on the AMQP protocol. Bridging the co-simulation to an external environment allows on one side to feed historical data to the co-simulation, serving different purposes, such as visuali...

Test automation is common in software development; often one tests repeatedly to identify regressions. If the amount of test cases is large, one may select a subset and only use the most important test cases. The regression test selection (RTS) could be automated and enhanced with Artificial Intelligence (AI-RTS). This however could introduce ethic...

When multiple robots are required to collaborate in order to accomplish a specific task, they need to be coordinated in order to operate efficiently. To allow for scalability and robustness, we propose a novel distributed approach performed by autonomous robots based on their willingness to interact with each other. This willingness, based on their...

The emergence of new technologies in software testing has increased the automation and flexibility of the testing process. In this context, the adoption of agents in software testing remains an active research area in which various agent methodologies, architectures, and tools are employed to improve different test problems. Even though research th...

Multi-robot task allocation (MRTA) problems have been studied extensively in the past decades. As a result, several classifications have been proposed in the literature targeting different aspects of MRTA, with often a few commonalities between them. The goal of this paper is twofold. First, a comprehensive overview of early work on existing MRTA t...

Underwater imaging has become an active research area in recent years as an effect of increased interest in underwater environments and is getting potential impact on the world economy, in what is called blue growth. Since sound propagates larger distances than electromagnetic waves underwater, sonar is typically used for underwater imaging. One in...

Growth of software size, lack of resources to perform regression testing, and failure to detect bugs faster have seen increased reliance on continuous integration and test automation. Even with greater hardware and software resources dedicated to test automation, software testing is faced with enormous challenges, resulting in increased dependence...

Adaptive autonomy allows agents to change their autonomy levels based on circumstances, e.g. when they decide to rely upon one another for completing tasks. In this paper, two configurations of agent models for adaptive autonomy are discussed. In the former configuration, the adaptive autonomous behavior is modeled through the willingness of an age...

Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical...

The analysis of climatic parameters, vegetation, humidity and pollution in the domain of time and space is done by processing a series of images of a geographic area taken by the satellite at certain times [1]. These images are subject to several computing schemes, with the aim of evaluating spatial and temporal variations of the mentioned paramete...