MROS: runtime adaptation for robot control architectures

Bozhinoski, Darko; Oviedo, Mario Garzon; Garcia, Nadia Hammoudeh; Deshpande, Harshavardhan; Hoorn, Gijs van der; Tjerngren, Jon; Wąsowski, Andrzej; Corbato, Carlos Hernández

doi:10.1080/01691864.2022.2039761

Cited by 7 publications

(11 citation statements)

References 27 publications

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“…The paper by Bozhinoski et al [14] concerns an earlier iteration of using MROS for runtime adaptation similar to this paper. Their work revolves around two cases, a manipulator robot with a "pick and place" task and a mobile robot navigating around obstacles on a factory floor.…”

Section: Related Workmentioning

confidence: 96%

“…The knowledge base (KB), the analyze and plan step are implemented using MROS 7 [19], a ROS 2-based Metacontrol implementation, as the MROS Reasoner node. The KB is implemented with the Ontology Web Language (OWL) [20], the Horn rules used for the analyze step with the Semantic Web Rule Language (SWRL) [21], and the reasoning is done with Pellet 8 .…”

Section: Metacontrol Implementationmentioning

confidence: 99%

“…trol [13], [14], a framework that enables self-adaptation in robotic systems and promotes the reuse of the adaptation logic by exploiting a model of the managed subsystem at runtime. Metacontrol's strength lies in the separation between the application and adaptation concerns, i.e., in the separation between the robot's operation and the logic of when and how to adapt.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

Silva

Päßler

Jeroen

et al. 2023

2023 IEEE/ACM 18th Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS)

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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 selfadaptation. 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.

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Section: Related Workmentioning

confidence: 96%

Section: Metacontrol Implementationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

Silva

Päßler

Jeroen

et al. 2023

2023 IEEE/ACM 18th Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS)

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“…A related approach for tracking the behavior of self-adaptive systems (Reynolds et al, 2020) relies on provenance graphs and a runtime model to analyze and explain the runtime behavior of a system. In the domain of robot systems, a model-based framework (Corbato et al, 2020) adapts robot control architectures at runtime. It targets ROS-based systems and uses the MAPE-K loop to trigger reconfigurations of the system.…”

Section: Related Workmentioning

confidence: 99%

AMon: A domain-specific language and framework for adaptive monitoring of Cyber–Physical Systems

Vierhauser

Wohlrab

Stadler

et al. 2023

Journal of Systems and Software

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“…Thus, it is advantageous to use methods and tools that enable the separation of concerns and promote reuse. This paper demonstrate how Metacontrol [6] can be applied with the MROS [3] tooling to enable self-adaptation in robotic systems.…”

Section: Introductionmentioning

confidence: 99%

MROS: A framework for robot self-adaptation

Rezende

Garcia

Bozhinoski

et al. 2023

2023 IEEE/ACM 45th International Conference on Software Engineering: Companion Proceedings (ICSE-Companion)

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Self-adaptation can be used in robotics to increase system robustness 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 packages 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/watch?v=ISe9aMskJuE

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MROS: runtime adaptation for robot control architectures

Cited by 7 publications

References 27 publications

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles

AMon: A domain-specific language and framework for adaptive monitoring of Cyber–Physical Systems

MROS: A framework for robot self-adaptation

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