机器人控制系统的运行时重构:基于ros的案例研究

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI:10.1109/IRC.2020.00047

D. Brugali

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引用次数: 5

摘要

自主机器人是环境感知自适应系统的复杂例子，这是一种利用环境知识触发运行时适应的软件系统。分析了机器人控制系统运行时可重构的体系结构问题，提出了服务机器人可重构导航系统的体系结构模型，并举例说明了其在ROS中的实现。

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Runtime reconfiguration of robot control systems: a ROS-based case study

Autonomous robots are complex examples of context-aware self-adaptive systems, a type of software systems that exploit knowledge about the environment to trigger runtime adaptation. This paper analyses architectural issues related to runtime reconfiguration of robot control systems, presents an architectural model of a reconfigurable navigation system for service robots, and exemplifies its implementation in ROS.

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2020 Fourth IEEE International Conference on Robotic Computing (IRC)

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