MROS: A framework for robot self-adaptation

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

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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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

Original language	English
Title of host publication	Proceedings of the 2023 IEEE/ACM 45th International Conference on Software Engineering
Subtitle of host publication	Companion, ICSE-Companion 2023
Publisher	IEEE
Pages	151-155
ISBN (Electronic)	979-8-3503-2263-7
DOIs	https://doi.org/10.1109/ICSE-Companion58688.2023.00044
Publication status	Published - 2023
Event	2023 IEEE/ACM 45th International Conference on Software Engineering: Software Engineering in Society (ICSE-SEIS) - Melbourne, Australia Duration: 14 May 2023 → 20 May 2023 Conference number: 45th

Conference

Conference	2023 IEEE/ACM 45th International Conference on Software Engineering: Software Engineering in Society (ICSE-SEIS)
Country/Territory	Australia
City	Melbourne
Period	14/05/23 → 20/05/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Metacontrol
MROS
Robotics
Self-adaptation
Self-adaptive systems

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10.1109/ICSE-Companion58688.2023.00044

MROS_A_framework_for_robot_self-adaptationFinal published version, 292 KB

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Silva, G. R., Garcia, N. H., Bozhinoski, D., Deshpande, H., Oviedo, M. G., Wasowski, A., Montero, M. R., & Corbato, C. H. (2023). MROS: A framework for robot self-adaptation. In Proceedings of the 2023 IEEE/ACM 45th International Conference on Software Engineering: Companion, ICSE-Companion 2023 (pp. 151-155). IEEE. https://doi.org/10.1109/ICSE-Companion58688.2023.00044

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

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2023 IEEE/ACM 45th International Conference on Software Engineering: Software Engineering in Society (ICSE-SEIS) ; Conference date: 14-05-2023 Through 20-05-2023",

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

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Silva, GR, Garcia, NH, Bozhinoski, D, Deshpande, H, Oviedo, MG, Wasowski, A, Montero, MR & Corbato, CH 2023, MROS: A framework for robot self-adaptation. in Proceedings of the 2023 IEEE/ACM 45th International Conference on Software Engineering: Companion, ICSE-Companion 2023. IEEE, pp. 151-155, 2023 IEEE/ACM 45th International Conference on Software Engineering: Software Engineering in Society (ICSE-SEIS), Melbourne, Australia, 14/05/23. https://doi.org/10.1109/ICSE-Companion58688.2023.00044

MROS: A framework for robot self-adaptation. / Silva, Gustavo Rezende; Garcia, Nadia Hammoudeh; Bozhinoski, Darko et al.
Proceedings of the 2023 IEEE/ACM 45th International Conference on Software Engineering: Companion, ICSE-Companion 2023. IEEE, 2023. p. 151-155.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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MROS: A framework for robot self-adaptation

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