RT Journal Article
T1 QoS metrics-in-the-loop for endowing runtime  self-adaptation to robotic software architectures
A1 Romero-Garcés, Adrián
A1 Salles de Freitas, Renan
A1 Marfil-Robles, Rebeca
A1 Vicente-Chicote, Cristina
A1 Martínez-Cruz, Jesús
A1 Inglés-Romero, Juan Francisco
A1 Bandera-Rubio, Antonio Jesús
K1 Robótica
K1 Autómatas
AB The design of a robot that is capable of operating autonomously ina changing and unstructured scenario is based on complex software architec-tures, in which perceptual and actuation components, as well as deliberativeones, are considered. The inherent dynamism of this kind of scenarios forcesthe software architecture to be able to adapt the robot’s behaviour to de-tected changes at runtime. This adaptation is often hard-coded by the roboticengineer within software components, thus considering the specific situationsthat s/he believes to be appropriate at design-time. Subsequently, when anyof these situations occur, software components can react by updating parame-ters, planning decisions, etc., then ensuring that the robot provides the desiredresponse. On the contrary, adding and managing situations that were not ini-tially considered is a cumbersome and expensive task. This paper describesa complete model-based framework for endowing a robot control architecturewith the ability of self-adapting the robot’s behaviour at runtime. On the onehand, this framework provides robotic designers with a textual model editorallowing them to specify variation points in the robot behaviour and definehow these variation points should be configured at runtime according to theperceived situation. On the other hand, the framework also includes a codegenerator that, taking the previous models as an input, generates and ap-propriately configures the runtime infrastructure needed to monitor relevantnon-functional properties and, according to their evolution, perform the ap-propriate behaviour adaptations to meet the required robot quality-of-service(QoS). The proposed framework is discussed and validated in two case studiesusing different and well-known robotics software architectures. The first usecase runs over a simulation environment generated using Webots. In a seconduse case a real robot is moved in an intralogistic scenario
PB Springer
YR 2022
FD 2022-01-13
LK https://hdl.handle.net/10630/34496
UL https://hdl.handle.net/10630/34496
LA eng
NO Romero-Garcés, A., Salles De Freitas, R., Marfil, R. et al. QoS metrics-in-the-loop for endowing runtime self-adaptation to robotic software architectures. Multimed Tools Appl 81, 3603–3628 (2022).
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026