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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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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Abstract 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
AbstractList 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
Author Oviedo, Mario Garzon
Deshpande, Harshavardhan
Silva, Gustavo Rezende
Montero, Mariano Ramirez
Corbato, Carlos Hernandez
Garcia, Nadia Hammoudeh
Bozhinoski, Darko
Wasowski, Andrzej
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  givenname: Gustavo Rezende
  surname: Silva
  fullname: Silva, Gustavo Rezende
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  organization: Delft University of Technology,Department of Cognitive Robotics,Delft,Netherlands
– sequence: 2
  givenname: Nadia Hammoudeh
  surname: Garcia
  fullname: Garcia, Nadia Hammoudeh
  email: nadia.hammoudeh.garcia@ipa.fraunhofer.de
  organization: Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Stuttgart,Germany
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  givenname: Darko
  surname: Bozhinoski
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  givenname: Harshavardhan
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  givenname: Andrzej
  surname: Wasowski
  fullname: Wasowski, Andrzej
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  organization: IT University Conpenhagen,Computer Science Department,Denmark
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  givenname: Mariano Ramirez
  surname: Montero
  fullname: Montero, Mariano Ramirez
  email: m.ramirezmontero-1@student.tudelft.nl
  organization: Delft University of Technology,Department of Cognitive Robotics,Delft,Netherlands
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  givenname: Carlos Hernandez
  surname: Corbato
  fullname: Corbato, Carlos Hernandez
  email: c.h.corbato@tudelft.nl
  organization: Delft University of Technology,Department of Cognitive Robotics,Delft,Netherlands
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Snippet Self-adaptation can be used in robotics to increase system robust- ness and reliability. This work describes the Metacontrol method for self-adaptation in...
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StartPage 151
SubjectTerms Floors
Metacontrol
Mobile robots
MROS
Navigation
Production facilities
Reliability
Robotics
Self-adaptation
Self-adaptive systems
Software engineering
Title MROS: A framework for robot self-adaptation
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