MROS: A framework for robot self-adaptation

Gustavo Rezende Silva; Nadia Hammoudeh Garcia; Darko Bozhinoski; Harshavardhan Deshpande; Mario Garzon Oviedo; Andrzej Wasowski; Mariano Ramírez Montero; Carlos Hernandez Corbato

doi:10.1109/ICSE-Companion58688.2023.00044

MROS: A framework for robot self-adaptation

Gustavo Rezende Silva, Nadia Hammoudeh Garcia, Darko Bozhinoski, Harshavardhan Deshpande, Mario Garzon Oviedo, Andrzej Wasowski, Mariano Ramírez Montero, Carlos Hernandez Corbato

Software Quality Research

Research output: Conference Article in Proceeding or Book/Report chapter › Article in proceedings › Research › peer-review

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

Original language	English
Title of host publication	2023 IEEE/ACM 45th International Conference on Software Engineering: Companion Proceedings (ICSE-Companion)
Place of Publication	Melbourne
Publisher	IEEE
Publication date	2023
ISBN (Electronic)	979-8-3503-2263-7
DOIs	https://doi.org/10.1109/ICSE-Companion58688.2023.00044
Publication status	Published - 2023

Keywords

Navigation
Production facilities
Reliability
Mobile robots
Floors
Software engineering

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10.1109/ICSE-Companion58688.2023.00044

https://arxiv.org/pdf/2303.09227.pdfLicence: CC BY

Cite this

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title = "MROS: A framework for robot self-adaptation",

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",

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language = "English",

booktitle = "2023 IEEE/ACM 45th International Conference on Software Engineering: Companion Proceedings (ICSE-Companion)",

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MROS: A framework for robot self-adaptation. / Rezende Silva, Gustavo; Garcia, Nadia Hammoudeh; Bozhinoski, Darko et al.
2023 IEEE/ACM 45th International Conference on Software Engineering: Companion Proceedings (ICSE-Companion). Melbourne: IEEE, 2023.

Research output: Conference Article in Proceeding or Book/Report chapter › Article in proceedings › Research › peer-review

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AU - Rezende Silva, Gustavo

AU - Garcia, Nadia Hammoudeh

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AU - Oviedo, Mario Garzon

AU - Wasowski, Andrzej

AU - Ramírez Montero, Mariano

AU - Corbato, Carlos Hernandez

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KW - Navigation

KW - Production facilities

KW - Reliability

KW - Mobile robots

KW - Floors

KW - Software engineering

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KW - Production facilities

KW - Reliability

KW - Mobile robots

KW - Floors

KW - Software engineering

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PB - IEEE

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ER -

MROS: A framework for robot self-adaptation

Abstract

Keywords

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