tags:: [[#zotero]]
date:: 5/2023
publisher:: IEEE
place:: "Melbourne, Australia"
conference-name:: 2023 IEEE/ACM 18th Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS)
proceedings-title:: 2023 IEEE/ACM 18th Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS)
isbn:: 979-8-3503-1192-1
doi:: 10.1109/SEAMS59076.2023.00031
title:: @SUAVE: an exemplar for self-adaptive underwater vehicles
pages:: 181-187
item-type:: [[conferencePaper]]
access-date:: 2024-12-02T20:43:50Z
rights:: https://doi.org/10.15223/policy-029
original-title:: SUAVE: an exemplar for self-adaptive underwater vehicles
language:: en
url:: https://ieeexplore.ieee.org/document/10173938/
short-title:: Suave
authors:: [[Gustavo Rezende Silva]], [[Juliane Päßler]], [[Jeroen Zwanepol]], [[Elvin Alberts]], [[S. Lizeth Tapia Tarifa]], [[Ilias Gerostathopoulos]], [[Einar Broch Johnsen]], [[Carlos Hernández Corbato]]
library-catalog:: DOI.org (Crossref)
links:: [Local library](zotero://select/library/items/833GKVPN), [Web library](https://www.zotero.org/users/1039502/items/833GKVPN)

- [[Abstract]]
	- Word count: 181 Implementing task logic and architectural adaptation for autonomous robots to cope with multiple tasks in diverse environments is a challenge. Methods from self-adaptive systems can be used to reduce development effort and improve maintainability by providing separation of concerns.However, only a few works have explored both task and architectural adaptation, and they do not address extensibility to new tasks or reuse across robotic applications. This paper proposes a novel knowledge-based solution for RObot Self-Adaptation (ROSA) that addresses the previous limitations and simplifies the design of task-and-architecture co-adaptation (TACA) in robotic applications. ROSA is a modular knowledge-based managing subsystem that solves TACA by providing a knowledge model that can capture all the application-specific knowledge required for the adaptation logic, and by reasoning uniquely about the captured knowledge at runtime to decide when and how the robotic system should adapt. This work provides a ROS 2-based open-source reference implementation of ROSA and demonstrate its feasibility and performance in an underwater robotics application. The experimental evaluation highlights the advantages of using ROSA to develop self-adaptive robotic systems in respect to reusability and development effort.
- ### Attachments
	- [PDF](zotero://select/library/items/JLRJW6PI) {{zotero-imported-file JLRJW6PI, "Silva et al. - 2023 - SUAVE an exemplar for self-adaptive underwater vehicles.PDF"}}