The IRMA Community
Newsletters
Research IRM
Click a keyword to search titles using our InfoSci-OnDemand powered search:
|
Run-Time Compositional Software Platform for Autonomous NXT Robots
|
|
Author(s): Ning Gui (University of Antwerp, Belgium), Vincenzo De Florio (PATS Research Group, University of Antwerp, and iMinds, Belgium)and Chris Blondia (University of Antwerp, Belgium)
Copyright: 2013
Pages: 13
Source title:
Innovations and Approaches for Resilient and Adaptive Systems
Source Author(s)/Editor(s): Vincenzo De Florio (PATS Research Group, University of Antwerp and iMinds, Belgium)
DOI: 10.4018/978-1-4666-2056-8.ch008
Purchase
|
Abstract
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.
Related Content
|
David Zelinka, Bassel Daher.
© 2021.
30 pages.
|
|
David Zelinka, Bassel Daher.
© 2021.
29 pages.
|
|
Narendranath Shanbhag, Eric Pardede.
© 2021.
31 pages.
|
|
Marc Haddad, Rami Otayek.
© 2021.
20 pages.
|
|
Reem A. ElHarakany, Alfredo Moscardini, Nermine M. Khalifa, Marwa M. Abd Elghany, Mona M. Abd Elghany.
© 2021.
23 pages.
|
|
Sanjay Soni, Basant Kumar Chourasia.
© 2021.
35 pages.
|
|
Lina Carvajal-Prieto, Milton M. Herrera.
© 2021.
20 pages.
|
|
|