Please use this identifier to cite or link to this item: http://hdl.handle.net/10553/48446
Title: Runtime self-adaptation in a component-based robotic framework
Authors: Hernândez-Sosa, D. 
Domínguez-Brito, Antonio C. 
Guerra-Artal, Cayetano 
Cabrera-Gàmez, Jorge 
UNESCO Clasification: 120304 Inteligencia artificial
Keywords: Robotic systems
Self-adaptive software components
Issue Date: 2005
Project: Aprendizaje Interactivo de Mapas Multisensoriales en Robótica Móvil. 
Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems 
IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 
Abstract: The development and maintenance of software for robotic systems is a hard task due to the complexity inherent in these systems. Besides, the resulting applications have to deal with limited resources and variable execution conditions that must be considered in order to keep an acceptable system performance. To address both problems we have integrated a set of dynamic adaptation policies inside CoolBOT, a component oriented framework for programming robotic systems. CoolBOT contributes to reduce the programming effort, promoting robustness and code reuse, while the adaptation scheme provides a dynamic modulation of system performance to meet available computational resources at runtime. In this paper we also present two demonstrators that outline the benefits of using the proposed approach in the development of real robotic applications.
URI: http://hdl.handle.net/10553/48446
ISBN: 0-7803-8912-3
9780780389120
DOI: 10.1109/IROS.2005.1545578
Source: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (1545578), p. 3904-3909
Appears in Collections:Actas de congresos
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