MROS: A framework for robot self-adaptation

2023/03/16 by Gustavo Rezende Silva, Darko Bozhinoski, Silva, Gustavo Rezende +11 · 1 citation
Computer Science · Engineering · #Advanced Software Engineering Methodologies #Service-Oriented Architecture and Web Services #Modular Robots and Swarm Intelligence

paper · pdf · doi:10.48550/arxiv.2303.09227

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

Cited by

• Declarative Lifecycle Management for Self-Adaptive Systems

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• MROS: Runtime Adaptation For Robot Control Architectures
• Robotic Control Using Model Based Meta Adaption
• A Meta Reinforcement Learning-based Approach for Self-Adaptive System
• Adapt On-the-Go: Behavior Modulation for Single-Life Robot Deployment
• RMA: Rapid Motor Adaptation for Legged Robots