MROS: A framework for robot self-adaptation
Gustavo Rezende Silva, Darko Bozhinoski, Mario Garzon Oviedo, Mariano, Ram\'irez Montero, Nadia Hammoudeh Garcia, Harshavardhan Deshpande, Andrzej, Wasowski, Carlos Hernandez Corbato
TL;DR
This paper introduces MROS, a framework that implements the Metacontrol method for robot self-adaptation, enhancing robustness and reliability in navigation tasks within factory environments.
Contribution
It presents the design and implementation of the MROS framework, integrating Metacontrol for adaptive robot behavior in ROS-based systems.
Findings
MROS successfully enables adaptive navigation in a factory scenario.
The framework improves robot robustness and reliability.
Demonstrated effectiveness through a real-world mobile robot experiment.
Abstract
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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Taxonomy
TopicsAdvanced Software Engineering Methodologies · Service-Oriented Architecture and Web Services · Modular Robots and Swarm Intelligence