SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

Gustavo Rezende Silva*, Juliane Pasler, Jeroen Zwanepol, Elvin Alberts, S. Lizeth Tapia Tarifa, Ilias Gerostathopoulos, Einar Broch Johnsen, Carlos Hernandez Corbato

*Corresponding author for this work

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

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Abstract

Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this paper presents SUAVE, an exemplar for two-layered system-level adaptation of AUVs, which clearly separates the application and self-adaptation concerns. The exemplar focuses on a mission for underwater pipeline inspection by a single AUV, implemented as a ROS 2-based system. This mission must be completed while simultaneously accounting for uncertainties such as thruster failures and unfavorable environmental conditions. The paper discusses how SUAVE can be used with different self-adaptation frameworks, illustrated by an experiment using the Metacontrol framework to compare AUV behavior with and without self-adaptation. The experiment shows that the use of Metacontrol to adapt the AUV during its mission improves its performance when measured by the overall time taken to complete the mission or the length of the inspected pipeline.

Original languageEnglish
Title of host publicationProceedings - 2023 IEEE/ACM 18th Symposium on Software Engineering for Adaptive and Self-Managing Systems, SEAMS 2023
PublisherIEEE
Pages181-187
ISBN (Electronic)979-8-3503-1192-1
DOIs
Publication statusPublished - 2023
Event18th IEEE/ACM Symposium on Software Engineering for Adaptive and Self-Managing Systems, SEAMS 2023 - Melbourne, Australia
Duration: 15 May 202316 May 2023

Conference

Conference18th IEEE/ACM Symposium on Software Engineering for Adaptive and Self-Managing Systems, SEAMS 2023
Country/TerritoryAustralia
CityMelbourne
Period15/05/2316/05/23

Keywords

  • exemplar
  • Metacontrol
  • robotics
  • self-adaptation
  • SUAVE
  • underwater robots

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