A Modeling Tool for Reconfigurable Skills in ROS

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

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

2 Citations (Scopus)
12 Downloads (Pure)


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 languageEnglish
Title of host publicationProceedings of the IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-6654-4474-3
Publication statusPublished - 2021
Event3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 - Virtual, Online
Duration: 2 Jun 2021 → …


Conference3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021
CityVirtual, Online
Period2/06/21 → …

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.


  • autonomous robots
  • domain specific language
  • ontologies
  • ROS2 tool
  • self adaptive systems


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