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 volumeConference contributionScientificpeer-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 languageEnglish
Title of host publicationProceedings of the 2023 IEEE/ACM 45th International Conference on Software Engineering
Subtitle of host publicationCompanion, ICSE-Companion 2023
PublisherIEEE
Pages151-155
ISBN (Electronic)979-8-3503-2263-7
DOIs
Publication statusPublished - 2023
Event 2023 IEEE/ACM 45th International Conference on Software Engineering: Software Engineering in Society (ICSE-SEIS) - Melbourne, Australia
Duration: 14 May 202320 May 2023
Conference number: 45th

Conference

Conference 2023 IEEE/ACM 45th International Conference on Software Engineering: Software Engineering in Society (ICSE-SEIS)
Country/TerritoryAustralia
CityMelbourne
Period14/05/2320/05/23

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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