Abstract
Service robots act in open-ended and natural environments. Therefore, due to the huge number of potential situations and contingencies, it is necessary to provide a mechanism to express dynamic 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 present a modeling process to separately specify at design-time two different kinds of dynamic variability: (i) variability related to the robot operation, and (ii) variability associated with QoS. The former provides robustness to contingencies, maintaining a high success rate in robot task fulfillment. The latter focuses on the quality of the robot execution (defined in terms of non-functional properties like safety or task efficiency) under changing situations and limited resources. We also discuss different alternatives for the run-time integration of the two variability management mechanisms, and show real-world robotic examples to illustrate them.
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Lotz, A., Inglés-Romero, J.F., Vicente-Chicote, C., Schlegel, C. (2013). Managing Run-Time Variability in Robotics Software by Modeling Functional and Non-functional Behavior. In: Nurcan, S., et al. Enterprise, Business-Process and Information Systems Modeling. BPMDS EMMSAD 2013 2013. Lecture Notes in Business Information Processing, vol 147. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38484-4_31
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DOI: https://doi.org/10.1007/978-3-642-38484-4_31
Publisher Name: Springer, Berlin, Heidelberg
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