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The MIRoN Project — Endowing robots with context-awareness and self-adaptation capabilities

Dealing with variability in open-ended environments requires robots to adapt themselves according to the perceived situation in order to achieve the required quality of service (defined in terms of safety, performance or energy consumption, among other criteria). In this sense, context awareness and runtime self-adaptation allows moving autonomous robot navigation one step forward. The ambition of the MIRoN Project was to provide a complete framework enabling designers to endow robots with the ability of self-adapting their course of action at runtime, according to the external and internal context information available. Our proposal relies on the systematic use of models for dynamically reconfiguring the robot behavior, defined in terms of Behavior Trees, according to the runtime prediction and estimation of quality of service metrics based on system-level non-functional properties.

Autores: Juan F. Ingles-Romero / Renan Salles de Freitas / Adrián Romero-Garces / Antonio Bandera / Jesus Martinez / José Ramón Lozano-Pinilla / Daniel Garcia-Pérez / Cristina Vicente-Chicote / 
Palabras Clave: context-awareness - EU H2020 R&D Projects - Robotics - Self-Adaptation

Prototyping Component-Based Self-Adaptive Systems with Maude

Software adaptation is becoming increasingly important as more and more applications need to dynamically adapt their structure and behavior to cope with changing contexts, available resources and user requirements. Maude is a high-performance reflective language and system, supporting both equational and rewriting logic specification and programming for a wide range of applications. In this paper we describe our experience in using Maude for prototyping component-based self-adaptive systems so that they can be formally simulated and analyzed. In order to illustrate the benefits of using Maude in this context, a case study in the robotics domain is presented.

Autores: Juan F. Inglés-Romero / Cristina Vicente-Chicote / Javier Troya / Antonio Vallecillo / 
Palabras Clave: component-based architecture - Maude - prototyping - Self-Adaptation

Self-Adaptation of Mobile Systems with Dynamic Software Product Lines

Mobile ecosystems are generally long-lived and sometimes operate in inaccessible areas, so they require support for self-adaptation to the continuous context changes. Dynamic Software Product Lines (DSPLs) produce software products capable of adapting to requirements that change at runtime. We propose a DSPL-based self-adaptation process especially designed for mobile system requirements, such as context and device heterogeneity. We follow a lightweight model@run.time approach, by using variability models to generate, at runtime, the products adapted to the context changes, but without loading the models in the mobile devices. In addition, our approach takes into account the quality-of-service as part of the decision making process.

Autores: Nadia Gamez / Lidia Fuentes / José María Troya / 
Palabras Clave: Dynamic Software Product Lines - Self-Adaptation

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