MROS: A framework for robot self-adaptation

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Mar 16, 2023
Gustavo Rezende Silva, Darko Bozhinoski, Mario Garzon Oviedo, Mariano Ramírez Montero, Nadia Hammoudeh Garcia, Harshavardhan Deshpande, Andrzej Wasowski, Carlos Hernandez Corbato
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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

* 5 pages, 4 figures, accepted at ICSE 2023 demo track  
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