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Title
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Run-time compositional software platform for autonomous NXT robots
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Author
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Abstract
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| Autonomous Robots normally perform tasks in unstructured environments, with little or no continuous human guidance. This calls for context-aware, self-adaptive software systems. This paper aims at providing a flexible adaptive middleware platform to seamlessly integrate multiple adaptation logics during the run-time. To support such an approach, a reconfigurable middleware system ACCADA was designed to provide compositional adaptation. During the run-time, context knowledge is used to select the most appropriate adaptation modules so as to compose an adaptive system best-matching the current exogenous and endogenous conditions. Together with a structure modeler, this allows robotic applications structure to be autonomously (re)-constructed and (re)-configured. This paper applies this model on a Lego NXT robot system. A remote NXT model is designed to wrap and expose native NXT devices into service components that can be managed during the run-time. A dynamic UI is implemented which can be changed and customized according to system conditions. Results show that the framework changes robot adaptation behavior during the run-time. |
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Language
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English
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Source (journal)
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International journal of adaptive, resilient and autonomic systems
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Publication
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2011
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DOI
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10.4018/JARAS.2011040103
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Volume/pages
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2
:2
(2011)
, p. 37-50
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Full text (Publisher's DOI)
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Full text (publisher's version - intranet only)
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