A Modeling Tool for Reconfigurable Skills in ROS

Darko Bozhinoski; Esther Aguado; Mario Garzon Oviedo; Carlos Hernandez; Ricardo Sanz; Andrzej Wasowski

doi:10.1109/RoSE52553.2021.00011

A Modeling Tool for Reconfigurable Skills in ROS

Darko Bozhinoski, Esther Aguado, Mario Garzon Oviedo, Carlos Hernandez, Ricardo Sanz, Andrzej Wasowski

Robot Dynamics

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

4 Citations (Scopus)

93 Downloads (Pure)

Abstract

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been seen in the adoption of ontologies. While the usage of ontologies significantly increases system reuse and maintainability, it requires additional effort from the application developers to translate requirements into formal rules that can be used by an ontological reasoner. In this paper, we present a design tool that facilitates the specification of reconfigurable robot skills. Based on the specified skills, we generate corresponding runtime models for self-adaptation that can be directly deployed to a running robot that uses a reasoning approach based on ontologies. We demonstrate the applicability of the tool in a real robot performing a patrolling mission at a university campus.

Original language	English
Title of host publication	Proceedings of the IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	25-28
ISBN (Electronic)	978-1-6654-4474-3
DOIs	https://doi.org/10.1109/RoSE52553.2021.00011
Publication status	Published - 2021
Event	3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 - Virtual, Online Duration: 2 Jun 2021 → …

Conference

Conference	3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021
City	Virtual, Online
Period	2/06/21 → …

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

autonomous robots
domain specific language
ontologies
ROS2 tool
self adaptive systems

Access to Document

10.1109/RoSE52553.2021.00011

A_Modeling_Tool_for_Reconfigurable_Skills_in_ROSFinal published version, 355 KB

Cite this

@inproceedings{6117855a41f64fc4bb67f0d297547f28,

title = "A Modeling Tool for Reconfigurable Skills in ROS",

abstract = "Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been seen in the adoption of ontologies. While the usage of ontologies significantly increases system reuse and maintainability, it requires additional effort from the application developers to translate requirements into formal rules that can be used by an ontological reasoner. In this paper, we present a design tool that facilitates the specification of reconfigurable robot skills. Based on the specified skills, we generate corresponding runtime models for self-adaptation that can be directly deployed to a running robot that uses a reasoning approach based on ontologies. We demonstrate the applicability of the tool in a real robot performing a patrolling mission at a university campus. ",

keywords = "autonomous robots, domain specific language, ontologies, ROS2 tool, self adaptive systems",

author = "Darko Bozhinoski and Esther Aguado and Oviedo, {Mario Garzon} and Carlos Hernandez and Ricardo Sanz and Andrzej Wasowski",

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.; 3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 ; Conference date: 02-06-2021",

year = "2021",

doi = "10.1109/RoSE52553.2021.00011",

language = "English",

pages = "25--28",

booktitle = "Proceedings of the IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021",

publisher = "IEEE",

address = "United States",

}

Bozhinoski, D, Aguado, E, Oviedo, MG , Hernandez, C, Sanz, R & Wasowski, A 2021, A Modeling Tool for Reconfigurable Skills in ROS. in Proceedings of the IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021., 9474550, IEEE, Piscataway, NJ, USA, pp. 25-28, 3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021, Virtual, Online, 2/06/21. https://doi.org/10.1109/RoSE52553.2021.00011

A Modeling Tool for Reconfigurable Skills in ROS. / Bozhinoski, Darko; Aguado, Esther; Oviedo, Mario Garzon et al.
Proceedings of the IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021. Piscataway, NJ, USA: IEEE, 2021. p. 25-28 9474550.

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

TY - GEN

T1 - A Modeling Tool for Reconfigurable Skills in ROS

AU - Bozhinoski, Darko

AU - Aguado, Esther

AU - Oviedo, Mario Garzon

AU - Hernandez, Carlos

AU - Sanz, Ricardo

AU - Wasowski, Andrzej

N1 - 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.

PY - 2021

Y1 - 2021

N2 - Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been seen in the adoption of ontologies. While the usage of ontologies significantly increases system reuse and maintainability, it requires additional effort from the application developers to translate requirements into formal rules that can be used by an ontological reasoner. In this paper, we present a design tool that facilitates the specification of reconfigurable robot skills. Based on the specified skills, we generate corresponding runtime models for self-adaptation that can be directly deployed to a running robot that uses a reasoning approach based on ontologies. We demonstrate the applicability of the tool in a real robot performing a patrolling mission at a university campus.

AB - Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been seen in the adoption of ontologies. While the usage of ontologies significantly increases system reuse and maintainability, it requires additional effort from the application developers to translate requirements into formal rules that can be used by an ontological reasoner. In this paper, we present a design tool that facilitates the specification of reconfigurable robot skills. Based on the specified skills, we generate corresponding runtime models for self-adaptation that can be directly deployed to a running robot that uses a reasoning approach based on ontologies. We demonstrate the applicability of the tool in a real robot performing a patrolling mission at a university campus.

KW - autonomous robots

KW - domain specific language

KW - ontologies

KW - ROS2 tool

KW - self adaptive systems

UR - http://www.scopus.com/inward/record.url?scp=85112864334&partnerID=8YFLogxK

U2 - 10.1109/RoSE52553.2021.00011

DO - 10.1109/RoSE52553.2021.00011

M3 - Conference contribution

AN - SCOPUS:85112864334

SP - 25

EP - 28

BT - Proceedings of the IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021

Y2 - 2 June 2021

ER -

A Modeling Tool for Reconfigurable Skills in ROS

Abstract

Conference

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this