MROS
A framework for robot self-adaptation
Gustavo Rezende Silva (TU Delft - Mechanical Engineering)
Nadia Hammoudeh Garcia (Fraunhofer Institute for Manufacturing Engineering and Automation)
Darko Bozhinoski (Vrije Universiteit Brussel)
Harshavardhan Deshpande (Robot and Assistive Systems)
Mario Garzon Oviedo (TU Delft - Mechanical Engineering)
Andrzej Wasowski (University of Copenhagen)
Mariano Ramirez Montero (Student TU Delft)
Carlos Hernandez Corbato (TU Delft - Mechanical Engineering)
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Abstract
Self-adaptation can be used in robotics to increase system robust- ness 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 pack- ages 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/watchvISe9aMskJuE