arXiv:2303.09227
MROS: A framework for robot self-adaptation
MROS: A framework for robot self-adaptation
著者: Gustavo Rezende Silva, Darko Bozhinoski, Mario Garzon Oviedo, Mariano Ramírez Montero, Nadia Hammoudeh Garcia, Harshavardhan Deshpande, Andrzej Wasowski, Carlos Hernandez Corbato
分類: cs.RO
原文アブストラクト
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