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
@article{arxiv.2303.09227,
title = {MROS: A framework for robot self-adaptation},
author = {Gustavo Rezende Silva and Darko Bozhinoski and Mario Garzon Oviedo and Mariano Ramírez Montero and Nadia Hammoudeh Garcia and Harshavardhan Deshpande and Andrzej Wasowski and Carlos Hernandez Corbato},
journal= {arXiv preprint arXiv:2303.09227},
year = {2023}
}
Comments
5 pages, 4 figures, accepted at ICSE 2023 demo track