MROS: A framework for robot self-adaptation

Self-adaptation can be used in robotics to increase system robust- ness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework implements and pack- ages Metacontrol, and it demonstrate...

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Bibliographic Details
Published in:Proceedings (IEEE/ACM International Conference on Software Engineering Companion. Online) pp. 151 - 155
Main Authors: Silva, Gustavo Rezende, Garcia, Nadia Hammoudeh, Bozhinoski, Darko, Deshpande, Harshavardhan, Oviedo, Mario Garzon, Wasowski, Andrzej, Montero, Mariano Ramirez, Corbato, Carlos Hernandez
Format: Conference Proceeding
Language:English
Published: IEEE 01.05.2023
Subjects:
Floors
Metacontrol
Mobile robots
MROS
Navigation
Production facilities
Reliability
Robotics
Self-adaptation
Self-adaptive systems
Software engineering
ISSN:2574-1934
Online Access:Get full text
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Summary:Self-adaptation can be used in robotics to increase system robust- ness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework implements and pack- ages Metacontrol, and it demonstrate how MROS can be applied in a navigation scenario where a mobile robot navigates in a factory floor. Video: https://www.youtube.com/watchvISe9aMskJuE
ISSN:2574-1934
DOI:10.1109/ICSE-Companion58688.2023.00044