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
Event	International Conference on Software Engineering - Melbourne, Australia Duration: 14 May 2023 → 20 May 2023 Conference number: 45 https://conf.researchr.org/home/icse-2023

Conference

Conference	International Conference on Software Engineering
Number	45
Country/Territory	Australia
City	Melbourne
Period	14/05/2023 → 20/05/2023
Internet address	https://conf.researchr.org/home/icse-2023

Keywords

Navigation
Production facilities
Reliability
Mobile robots
Floors
Software engineering

Access to Document

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",

keywords = "Navigation, Production facilities, Reliability, Mobile robots, Floors, Software engineering, Navigation, Production facilities, Reliability, Mobile robots, Floors, Software engineering",

author = "\{Rezende Silva\}, Gustavo and Garcia, \{Nadia Hammoudeh\} and Darko Bozhinoski and Harshavardhan Deshpande and Oviedo, \{Mario Garzon\} and Andrzej Wasowski and \{Ram{\'i}rez Montero\}, Mariano and Corbato, \{Carlos Hernandez\}",

year = "2023",

doi = "10.1109/ICSE-Companion58688.2023.00044",

language = "English",

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

publisher = "IEEE",

address = "United States",

note = "International Conference on Software Engineering, ICSE ; Conference date: 14-05-2023 Through 20-05-2023",

url = "https://conf.researchr.org/home/icse-2023",

}

Rezende Silva, G, Garcia, NH, Bozhinoski, D, Deshpande, H, Oviedo, MG, Wasowski, A, Ramírez Montero, M & Corbato, CH 2023, MROS: A framework for robot self-adaptation. in 2023 IEEE/ACM 45th International Conference on Software Engineering: Companion Proceedings (ICSE-Companion). IEEE, Melbourne, International Conference on Software Engineering, Melbourne, Victoria, Australia, 14/05/2023. https://doi.org/10.1109/ICSE-Companion58688.2023.00044

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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T1 - MROS: A framework for robot self-adaptation

AU - Rezende Silva, Gustavo

AU - Garcia, Nadia Hammoudeh

AU - Bozhinoski, Darko

AU - Deshpande, Harshavardhan

AU - Oviedo, Mario Garzon

AU - Wasowski, Andrzej

AU - Ramírez Montero, Mariano

AU - Corbato, Carlos Hernandez

N1 - Conference code: 45

PY - 2023

Y1 - 2023

N2 - 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

AB - 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

KW - Navigation

KW - Production facilities

KW - Reliability

KW - Mobile robots

KW - Floors

KW - Software engineering

KW - Navigation

KW - Production facilities

KW - Reliability

KW - Mobile robots

KW - Floors

KW - Software engineering

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DO - 10.1109/ICSE-Companion58688.2023.00044

M3 - Article in proceedings

BT - 2023 IEEE/ACM 45th International Conference on Software Engineering: Companion Proceedings (ICSE-Companion)

PB - IEEE

CY - Melbourne

T2 - International Conference on Software Engineering

Y2 - 14 May 2023 through 20 May 2023

ER -

MROS: A framework for robot self-adaptation

Abstract

Conference

Keywords

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