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.
|Title of host publication||Proceedings of the IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021|
|Place of Publication||Piscataway, NJ, USA|
|Publication status||Published - 2021|
|Event||3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021 - Virtual, Online|
Duration: 2 Jun 2021 → …
|Conference||3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021|
|Period||2/06/21 → …|
Bibliographical noteGreen 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
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- autonomous robots
- domain specific language
- ROS2 tool
- self adaptive systems