MROS: A framework for robot self-adaptation

Andrzej Wasowski; Carlos Hernandez Corbato; Darko Bozhinoski; Gustavo Rezende Silva; Harshavardhan Deshpande; Mariano Ram\'irez Montero; Mario Garzon Oviedo; Nadia Hammoudeh Garcia

arxiv: 2303.09227 · v1 · pith:YKZHX4P7new · submitted 2023-03-16 · 💻 cs.RO

MROS: A framework for robot self-adaptation

Gustavo Rezende Silva , Darko Bozhinoski , Mario Garzon Oviedo , Mariano Ram\'irez Montero , Nadia Hammoudeh Garcia , Harshavardhan Deshpande , Andrzej Wasowski , Carlos Hernandez Corbato This is my paper

classification 💻 cs.RO

keywords metacontrolmrosself-adaptationframeworkrobotroboticsapplieddemonstrate

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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

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