Synthesizing Capabilities for Collective Adaptive Systems from Self-descriptive Hardware Devices Bridging the Reality Gap

Wanninger, Constantin; Eymüller, Christian; Hoffmann, Alwin; Kosak, Oliver; Reif, Wolfgang

doi:10.1007/978-3-030-03424-5_7

Cited by 10 publications

(12 citation statements)

References 22 publications

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“…The estimation of the flight time influences the executability of the capability “fly to position”, so if the estimated trajectory will take too long, the system sends a failure message and a reconfiguration is necessary. A more detailed description of the used sensors, the distributed storage of capabilities and properties, and resource allocation mechanisms can be found in the following three papers: Reference [69] (concrete implementation of a distributed knowledge base with techniques of the semantic web), Reference [70] (matching between requirements and capabilities), and References [47] (resource allocation and estimation of possible configurations with a predefined set of hardware). The generation of reconfiguration suggestions within a distributed knowledge base for an easy usage of our architecture is in scope of future work.…”

Section: Proof Of Concept and Preliminary Resultsmentioning

confidence: 99%

“…Figure 7) and the decomposition into basic capabilities of available hardware modules, a lack of information exists. To eliminate this, we introduced blueprints [70] to describe how to compose individual capabilities to more complex capabilities. Blueprints are a schematic representation of composed capabilities and define how capabilities may be interconnected to more complex capabilities.…”

Section: Architecturementioning

confidence: 99%

“…The description of hardware devices is subdivided into capabilities and properties of the hardware component [70]. We define capabilities as executable actions of a hardware device (e.g., “measure” or “move with velocity”) with direct access to the hardware interface.…”

Section: Architecturementioning

confidence: 99%

“…The concepts presented in Section 4.4 describe a static view of the system with the goal of an abstract description and usage of available hardware modules. This chapter introduces a middleware for self-descriptive devices (SDD) [70] to fill the gap between the concepts of Section 4.4 and their realization on hardware modules. The idea behind the middleware is to gain access to modular, dynamically coupled hardware modules with decentralized, self-descriptive mechanisms for realizing the access to their capabilities (cf.…”

Section: Architecturementioning

confidence: 99%

See 3 more Smart Citations

Multipotent Systems: Combining Planning, Self-Organization, and Reconfiguration in Modular Robot Ensembles

Kosak

Wanninger

Hoffmann

et al. 2018

Sensors

Self Cite

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Mobile multirobot systems play an increasing role in many disciplines. Their capabilities can be used, e.g., to transport workpieces in industrial applications or to support operational forces in search and rescue scenarios, among many others. Depending on the respective application, the hardware design and accompanying software of mobile robots are of various forms, especially for integrating different sensors and actuators. Concerning this design, robots of one system compared to each other can be classified to exclusively be either homogeneous or heterogeneous, both resulting in different system properties. While homogeneously configured systems are known to be robust against failures through redundancy but are highly specialized for specific use cases, heterogeneously designed systems can be used for a broad range of applications but suffer from their specialization, i.e., they can only hardly compensate for the failure of one specialist. Up to now, there has been no known approach aiming to unify the benefits of both these types of system. In this paper, we present our approach to filling this gap by introducing a reference architecture for mobile robots that defines the interplay of all necessary technologies for achieving this goal. We introduce the class of robot systems implementing this architecture as multipotent systems that bring together the benefits of both system classes, enabling homogeneously designed robots to become heterogeneous specialists at runtime. When many of these robots work together, we call the structure of this cooperation an ensemble. To achieve multipotent ensembles, we also integrate reconfigurable and self-descriptive hardware (i.e., sensors and actuators) in this architecture, which can be freely combined to change the capabilities of robots at runtime. Because typically a high degree of autonomy in such systems is a prerequisite for their practical usage, we also present the integration of necessary mechanisms and algorithms for achieving the systems’ multipotency. We already achieved the first results with robots implementing our approach of multipotent systems in real-world experiments as well as in a simulation environment, which we present in this paper.

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Section: Proof Of Concept and Preliminary Resultsmentioning

confidence: 99%

Section: Architecturementioning

confidence: 99%

Section: Architecturementioning

confidence: 99%

Section: Architecturementioning

confidence: 99%

See 2 more Smart Citations

Multipotent Systems: Combining Planning, Self-Organization, and Reconfiguration in Modular Robot Ensembles

Kosak

Wanninger

Hoffmann

et al. 2018

Sensors

Self Cite

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“…The gap between simulated hardware and real hardware implementations is addressed in [70]. It proposes a novel architecture for realising collective adaptive systems on hardware devices for real-world scenarios.…”

Section: Methods Based On Feedback Control Loopsmentioning

confidence: 99%

Rigorous engineering of collective adaptive systems: special section

Nicola

Jähnichen

Wirsing

2020

Int J Softw Tools Technol Transfer

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An adaptive system is able to adapt at runtime to dynamically changing environments and to new requirements. Adaptive systems can be single adaptive entities or collective ones that consist of several collaborating entities. Rigorous engineering requires appropriate methods and tools that help guaranteeing that an adaptive system lives up to its intended purpose. This paper introduces the special section on "Rigorous Engineering of Collective Adaptive Systems." It presents the seven contributions of the section and gives a short overview of the field of rigorously engineering collective adaptive systems by structuring it according to three topics: systematic development, methods and theories for modelling and analysis, and techniques for programming and operating collective adaptive systems.

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Rigorous Engineering of Collective Adaptive Systems Introduction to the 2nd Track Edition

Nicola

Jähnichen

Wirsing

2018

Leveraging Applications of Formal Methods, Verification and Validation. Distributed Systems

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Synthesizing Capabilities for Collective Adaptive Systems from Self-descriptive Hardware Devices Bridging the Reality Gap

Cited by 10 publications

References 22 publications

Multipotent Systems: Combining Planning, Self-Organization, and Reconfiguration in Modular Robot Ensembles

Multipotent Systems: Combining Planning, Self-Organization, and Reconfiguration in Modular Robot Ensembles

Rigorous engineering of collective adaptive systems: special section

Rigorous Engineering of Collective Adaptive Systems Introduction to the 2nd Track Edition

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