Print Email Facebook Twitter A Modeling Tool for Reconfigurable Skills in ROS Title A Modeling Tool for Reconfigurable Skills in ROS Author Bozhinoski, D. (TU Delft Robot Dynamics) Aguado, Esther (Universidad Politécnica de Madrid) Garzon Oviedo, M.A. (TU Delft Robot Dynamics) Hernández, Carlos (TU Delft Robot Dynamics) Sanz, Ricardo (Universidad Politécnica de Madrid) Wasowski, Andrzej (University of Copenhagen) Date 2021 Abstract Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been seen in the adoption of ontologies. While the usage of ontologies significantly increases system reuse and maintainability, it requires additional effort from the application developers to translate requirements into formal rules that can be used by an ontological reasoner. In this paper, we present a design tool that facilitates the specification of reconfigurable robot skills. Based on the specified skills, we generate corresponding runtime models for self-adaptation that can be directly deployed to a running robot that uses a reasoning approach based on ontologies. We demonstrate the applicability of the tool in a real robot performing a patrolling mission at a university campus. Subject autonomous robotsdomain specific languageontologiesROS2 toolself adaptive systems To reference this document use: http://resolver.tudelft.nl/uuid:6117855a-41f6-4fc4-bb67-f0d297547f28 DOI https://doi.org/10.1109/RoSE52553.2021.00011 Publisher IEEE, Piscataway, NJ, USA Embargo date 2022-01-09 ISBN 978-1-6654-4474-3 Source Proceedings of the IEEE/ACM 3rd International Workshop on Robotics Software Engineering, RoSE 2021 Event 3rd IEEE/ACM International Workshop on Robotics Software Engineering, RoSE 2021, 2021-06-02 → , Virtual, Online Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2021 D. Bozhinoski, Esther Aguado, M.A. Garzon Oviedo, Carlos Hernández, Ricardo Sanz, Andrzej Wasowski Files PDF A_Modeling_Tool_for_Recon ... in_ROS.pdf 445.77 KB Close viewer /islandora/object/uuid:6117855a-41f6-4fc4-bb67-f0d297547f28/datastream/OBJ/view