By Topic

Towards the Automatic Generation of Self-Adaptive Robotics Software: An Experience Report

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Ingles-Romero, J.F. ; ETSIT, Tech. Univ. of Cartagena, Cartagena, Spain ; Vicente-Chicote, C. ; Morin, B. ; Barais, O.

This paper reports the progress on a previous work in which we described our experience in using the high-level models provided by the DiVA Framework to design the self-adaptive behavior of autonomous robots. The main objective of this work is to discuss how these models can be translated into a run-time self-adaptive architecture for resource-constrained robots. In order to achieve this goal, the models developed for the case study presented as part of the previous work (based on a Victim-Rescuer scenario) serve as the starting point to manually obtain a self-adaptive component-based architecture, which we have implemented using Cecilia (a C distribution of the Fractal component model) and deployed on two e-pucks (low-cost mobile robotics platform). Through this implementation, we try to identify the generic rules that will allow us to obtain (by means of an automated Model-to-Text transformation) self-adaptive robotics software from the DiVA design-time models. The lessons learned from this experience are reported at the end of the paper, leaving the way open for further improvements on self-adaptive robotics.

Published in:

Enabling Technologies: Infrastructure for Collaborative Enterprises (WETICE), 2011 20th IEEE International Workshops on

Date of Conference:

27-29 June 2011