Extension of a plan-based component manager for real time adaptation

The ability to reconfigure running component networks in a robust manner is the next challenge in robotic software frameworks. As robots are expected to become more versatile, it is important to be able to pick the right tool for the job. On the basis of the current goal and situation, and to transition between these "tools" in a manner that does not jeopardize the system operations.In this paper, a concept for an extension of a model-based component manager is presented. The focus lies on the functionality to handle realtime network switching. Following our concecpt, the modeling of the transition times, as well as the ability in fine to switch in a hard-realtime manner can be resolved.