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Graph-based software knowledge: Storage and semantic querying of domain models for run-time adaptation

Nico Hochgeschwender, Sven Schneider, Holger Voos, Herman Bruyninckx, Gerhard K. Kraetzschmar
2016 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)  
Software development for robots is a knowledgeintensive exercise.  ...  We argue that the robots themselves should be first-class consumers of this knowledge to autonomously adapt their software to the various and changing run-time requirements induced, for instance, by the  ...  Furthermore, the authors gratefully acknowledge the on-going support of the Bonn-Aachen International Center for Information Technology.  ... 
doi:10.1109/simpar.2016.7862379 dblp:conf/simpar/Hochgeschwender16 fatcat:ayclhdhcufbndmyigqrdkw7lba

Engineering Heterogeneous Robotics Systems: A Software Architecture-Based Approach

Nenad Medvidovic, Hossein Tajalli, Joshua Garcia, Ivo Krka, Yuriy Brun, George Edwards
2011 Computer  
that it is too difficult to separate this software from RoboPrism, a framework that supports software-architecture-based development of robotic systems, is accessible to nonexperts in robotics, deals  ...  Recent approaches have adopted an explicit software engineering perspective for building robotics systems, R obotics systems exhibit characteristics that argue for a software engineering focus, including  ...  We used an adaptive-layered style to realize different adaptive software systems. 4 In recent work, we leveraged this approach to design the Plan-Based Layered Architecture for Software Model-Driven  ... 
doi:10.1109/mc.2010.368 fatcat:qqflbhyn7ffjjoqghtsva5l3ze

Towards the Automatic Generation of Self-Adaptive Robotics Software: An Experience Report

Juan F. Ingles-Romero, Cristina Vicente-Chicote, Brice Morin, Olivier Barais
2011 2011 IEEE 20th International Workshops on Enabling Technologies: Infrastructure for Collaborative Enterprises  
Model-Driven Engineering; Component-Based Software  ...  The main objective of this work is to discuss how these models can be translated into a run-time self-adaptive architecture for resourceconstrained robots.  ...  Inglés-Romero thanks Fundación Séneca-CARM for a research grant (Exp. 15561/FPI/10).  ... 
doi:10.1109/wetice.2011.54 dblp:conf/wetice/Ingles-RomeroVMB11 fatcat:gk6ev5np5fedpabnrymjnmuuvu

Software Architecture-based Approach to Self-adaptive Function for Intelligent Robots

Dongsun Kim, Sooyong Park
2008 IFAC Proceedings Volumes  
In this paper, we propose a software architecture-based approach for self-adaptive function that optimizes the use of computing resources by supporting dynamic re-deployment of software components.  ...  Organizations of motion actuations for providing services are modeled by software architecture that describes required components and their configurations.  ...  Based on the examination, the process for CIR's robot software system development which enables dynamic adaptation at run-time was designed.  ... 
doi:10.3182/20080706-5-kr-1001.00891 fatcat:c2cvme5ggrhnta2sg5r2oux6my

Applying Dynamic Software Architecture Management to Home Service Robot Software

Dongsun Kim, Sooyong Park, Mun-Taek Choi, Munsang Kim
2007 RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication  
In this paper, we describe the situation that causes resource contention and formulate architecture-based adaptation in robot software systems.  ...  Based on the formulation we proposed an approach to dynamic robot software management that effectively uses robot computing resources.  ...  Based on the examination, the process for CIR's robot software system development which enables dynamic adaptation at run-time was designed.  ... 
doi:10.1109/roman.2007.4415095 dblp:conf/ro-man/KimPCK07 fatcat:5nsqyqioazhthmgjmsz2nb67gq

Self-adaptive system development method for smart control systems in CPS

In-geol Chun, Jeong-min Park, Won-tae Kim
2014 16th International Conference on Advanced Communication Technology  
Home service robot is a robot used for household chores on behalf of human. We expect that every home will at least possess and use more than one home service robot in the near future.  ...  To apply this approach, home service robots could be more intelligent in the adaptation.  ...  For that reason, we propose new systems development method based on the self-adaptation technologies.  ... 
doi:10.1109/icact.2014.6779039 fatcat:sneviulwkna6lb2oimtrsiutcq

Self-Management Technique for Adaptive Robot Software based on Task Environment Similarity

Yunsik Son, Jin-Woo Jung
2015 Procedia Computer Science  
In this paper, we propose a novel method by which the robot can choose the most suitable software module for the given task based on the evaluation of task environment, and the resulting relationship between  ...  the environmental information and robot software module is managed by the robot itself.  ...  The robot based on SHAGE is able to adapt for various tasks or environmental changes. It is similar with R-Object model in terms of re-configurability of robot S/W function modules.  ... 
doi:10.1016/j.procs.2015.07.248 fatcat:hjep4eheuveixfmum355wt4pta

Architecture-driven self-adaptation and self-management in robotics systems

George Edwards, Joshua Garcia, Hossein Tajalli, Daniel Popescu, Nenad Medvidovic, Gaurav Sukhatme, Brad Petrus
2009 2009 ICSE Workshop on Software Engineering for Adaptive and Self-Managing Systems  
We describe an architecture-centric design and implementation approach for building self-adapting and selfmanaging robotics systems.  ...  In this way, our approach flexibly supports adaptive layered architectures of arbitrary depth, the specification of arbitrary system adaptation policies, and the provision of intelligent facilities for  ...  The authors wish to express their gratitude to John Lewis for his contributions to the project.  ... 
doi:10.1109/seams.2009.5069083 dblp:conf/icse/EdwardsGTPMSP09 fatcat:67ztflnknfdexfflaibbvvulzy

Poster: Model-based Run-time Variability Resolution for Robotic Applications

Luca Gherardi, Nico Hochgeschwender
2015 2015 IEEE/ACM 37th IEEE International Conference on Software Engineering  
RRA is a model-driven approach that addresses robotics runtime adaptation by modeling and resolving run-time variability of robotic applications.  ...  In this paper we present our ongoing work on Robotics Run-time Adaptation (RRA).  ...  CONCLUSION We presented RRA, our model-based approach for run-time adaptation of robotics system.  ... 
doi:10.1109/icse.2015.269 dblp:conf/icse/GherardiH15 fatcat:gkcul3tz25fcpn6tm6r43pkqy4

micROS: a morphable, intelligent and collective robot operating system

Xuejun Yang, Huadong Dai, Xiaodong Yi, Yanzhen Wang, Shaowu Yang, Bo Zhang, Zhiyuan Wang, Yun Zhou, Xuefeng Peng
2016 Robotics and Biomimetics  
Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots.  ...  We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive  ...  As shown in Fig. 5 , the morphable and adaptive mechanism of micROS is based on control theory and adaptive software model [34] .  ... 
doi:10.1186/s40638-016-0054-y pmid:27942434 pmcid:PMC5124045 fatcat:adsh6md3ojfedcr3le47lp7v7u

Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering [chapter]

Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll
2010 Lecture Notes in Computer Science  
We present a novel overall vision of a model-driven engineering approach for robotics that fuses strategies for robustness by design and robustness by adaptation.  ...  Advanced software engineering is the key factor in the design of future complex cognitive robots. It will decide about their robustness, (run-time) adaptivity, cost-effectiveness and usability.  ...  adaptation of systems by exploiting software models not only at design time but also at run-time [2] .  ... 
doi:10.1007/978-3-642-17319-6_31 fatcat:gu7g4xpjirdxjn3s2b4eur66ei

Effiziente Aufgaben-Allokation in Roboter-Teams

Chayan Sarkar, Sounak Dey, Marichi Agarwal
2018 atp edition - Automatisierungstechnische Praxis  
In this article, we explore an avenue of semantic-based dynamic utility calculation and showcase its application for a use-case.  ...  robotic workforce.  ...  All of these adapt the model itself without changing the system unlike classical software-based adaptation.  ... 
doi:10.17560/atp.v60i08.2367 fatcat:ql3tbqtmrvcc7m5u2eryvyaaai

Software architectures for robotic systems: A systematic mapping study

Aakash Ahmad, Muhammad Ali Babar
2016 Journal of Systems and Software  
Software architecture related issues are important for robotic systems.  ...  Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades.  ...  Pooyan Jamshidi (affiliated with: Lero -the Irish Software Engineering Research Centre, Dublin City University, Ireland) for his feedback and thoughtful suggestions throughout the development and evaluation  ... 
doi:10.1016/j.jss.2016.08.039 fatcat:y56vk7pzfvgf3kykwwxiwxdvvu

Self-adaptive Software Modeling Based on Contextual Requirements

Aradea Aradea, Iping Supriana, Kridanto Surendro
2018 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
However, in most cases, modeling for self-adaptive software is does not take into consider the requirements evolution b ased on contextual requirements.  ...  As an evaluation, the adaptation process is modeled for cleaner rob ot.  ...  Acknowledgments The work conducted for this study was supported by Ministry of Research, Technology and Higher Education of the Republic of Indonesia (No. 181.A/ADD/UN58.21/LT/2017).  ... 
doi:10.12928/telkomnika.v16i3.7032 fatcat:uhadpvieonfbhclem74vps75zu

AlchemistJ: A Framework for Self-adaptive Software [chapter]

Dongsun Kim, Sooyong Park
2005 Lecture Notes in Computer Science  
In this paper, we describe a software framework to support such capabilities to realize self-adaptive software and its experiment results.  ...  The major goal of self-adaptive software is to provide a mechanism that allows a software system to dynamically change its architectural configuration during run-time to cope with requirement changes and  ...  In this paper, we propose a framework for self-adaptive software called 'AlchemistJ'.  ... 
doi:10.1007/11596356_13 fatcat:2qpoh6pmabfwjnc4f2egjw6smi
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