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

Research output: Conference Article in Proceeding or Book/Report chapterArticle in proceedingsResearchpeer-review


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:
Original languageEnglish
Title of host publication2023 IEEE/ACM 45th International Conference on Software Engineering: Companion Proceedings (ICSE-Companion)
Place of PublicationMelbourne
Publication date2023
ISBN (Electronic)979-8-3503-2263-7
Publication statusPublished - 2023


  • Navigation
  • Production facilities
  • Reliability
  • Mobile robots
  • Floors
  • Software engineering


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