AbLECPS - Assurance based Learning Enabled Cyber Physical Systems

This is the GitHub page for AbLECPS - ALC Toolchain public release (03-16-23)

BlueROV2 Standalone example in the Toolchain is a complete software system for fault tolerant autonomous underwater vehicles, based on ROS and the UUV Simulator, extended excessively by the Institute of Software Integrated Systems at Vanderbilt University,.

Project information can be found at:

Toolchain videos with BlueROV2 based autonomous UUV

This is an example how to use the toolchain and BlueROV Activities in headless mode, how to plot the results:

If you want to use the IDE of the toolchain, here is a step-by-step example for running BlueROV complex example with RQT for behaviour trees, RViz. Prerequisites: Toolchain set up as described in the documentation (Chapter 5.2. Initial Setup in IDE)

Sources and Installation instructions



This work was supported by the DARPA Assured Autonomy project and Air Force Research Laboratory. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of DARPA or AFRL.