MROS

A framework for robot self-adaptation

Conference paper (2023)

Authors

G. Rezende Silva Robot Dynamics - Mechanical, Maritime and Materials Engineering
Nadia Hammoudeh Garcia Fraunhofer Institute for Manufacturing Engineering and Automation
D. Bozhinoski Vrije Universiteit Brussel
Harshavardhan Deshpande Robot and Assistive Systems
M.A. Garzon Oviedo Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
Andrzej Wąsowski University of Copenhagen
Carlos Hernández Robot Dynamics - Mechanical, Maritime and Materials Engineering
Research Group
Robot Dynamics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 G. Rezende Silva, Nadia Hammoudeh Garcia, D. Bozhinoski, Harshavardhan Deshpande, M.A. Garzon Oviedo, Andrzej Wasowski, Mariano Ramirez Montero, Carlos Hernández
DOI: https://doi.org/10.1109/ICSE-Companion58688.2023.00044
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Published Date

2023

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Robot Dynamics

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

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