A Formal Model of Metacontrol in Maude

Conference paper (2022)

Authors

J. Päßler Universitetet i Oslo
Esther Aguado Universidad Politécnica de Madrid
G. Rezende Silva Robot Dynamics - Mechanical, Maritime and Materials Engineering
Silvia Lizeth Tapia Tarifa Universitetet i Oslo
Carlos Hernández Robot Dynamics - Mechanical, Maritime and Materials Engineering
Einar Broch Johnsen Universitetet i Oslo
Research Group
Robot Dynamics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 J. Päßler, Esther Aguado, G. Rezende Silva, Silvia Lizeth Tapia Tarifa, Carlos Hernández, Einar Broch Johnsen
DOI
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https://doi.org/10.1007/978-3-031-19849-6_32
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Robot Dynamics

Abstract

Nowadays smart applications appear in domains spanning from commodity household applications to advanced underwater robotics. These smart applications require adaptation to dynamic environments, changing requirements and internal system errors Metacontrol takes a systems of systems view on autonomous control systems and self-adaptation, by means of an additional layer of control that manipulates and combines the regular controllers. This paper develops a formal model of a Metacontrol architecture. We formalise this Metacontrol architecture in the context of an autonomous house heating application, enabling different controllers to be dynamically combined in order to meet user requirements to a better extent than the individual controllers in isolation. The formal model is developed in the Maude rewriting system, where we show results comparing different scenarios.