Runtime self-adaptation in a component-based robotic framework

Hernández-Sosa, Daniel; Domínguez‐Brito, Antonio C.; Guerra-Artal, Cayetano; Cabrera‐Gámez, Jorge

doi:10.1109/iros.2005.1545578

Cited by 2 publications

(2 citation statements)

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“…This includes hardware and software (like robotic system) and is realized with an embedded virtual machine running on real time operating system (Cui et al , 2014). Different to Hernandez-Sosa et al (2005) the focus is especially on self-adaptation mechanism for fault detection and not QoS. The goal of the framework is an automatic reconfiguration of the system with other or additional components.…”

Section: Middleware Solutions and Frameworkmentioning

confidence: 99%

“…The specialities and similarities are discussed in the following. Hernandez-Sosa et al (2005) present an adaptation framework inside their component-based robotic framework with the focus on resources used by modules. Thus, their focus is purely adaptive quality of service (QoS) in order to keep the system robust and stable even in high load situations and not the general behaviour of the system under normal execution conditions.…”

Section: Middleware Solutions and Frameworkmentioning

confidence: 99%

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Towards adaptive multi-robot systems: self-organization and self-adaptation

Hrabia

Lützenberger

Albayrak

2018

The Knowledge Engineering Review

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The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible.

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Section: Middleware Solutions and Frameworkmentioning

confidence: 99%

Section: Middleware Solutions and Frameworkmentioning

confidence: 99%