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arXiv · 1303.4296

Dealing with Run-Time Variability in Service Robotics: Towards a DSL for Non-Functional Properties

Juan Francisco Inglés-Romero·Alex Lotz·Cristina Vicente Chicote·Christian Schlegel
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Abstract

Service robots act in open-ended, natural environments. Therefore, due to combinatorial explosion of potential situations, it is not possible to foresee all eventualities in advance during robot design. In addition, due to limited resources on a mobile robot, it is not feasible to plan any action on demand. Hence, it is necessary to provide a mechanism to express variability at design-time that can be efficiently resolved on the robot at run-time based on the then available information. In this paper, we introduce a DSL to express run- time variability focused on the execution quality of the robot (in terms of non-functional properties like safety and task efficiency) under changing situations and limited resources. We underpin the applicability of our approach by an example integrated into an overall robotics architecture.

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Juan Francisco Inglés-Romero, Alex Lotz, Cristina Vicente Chicote, Christian Schlegel. 2013-03-18. Dealing with Run-Time Variability in Service Robotics: Towards a DSL for Non-Functional Properties. https://arxiv.org/abs/1303.4296

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