Abstract
With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully. However, as the complexity of robotic systems grows, the need to organize and modularize software for their correct functioning also becomes a challenge, making the development of software for controlling robots a complex and intricate task. In the robotics domain, there is a lack of reference software architectures and, although most robot architectures available in the literature facilitate the creation process with their modularity, existing solutions do not provide development guidance on reusing existing modules. Based on the well-
 known IBM Autonomic Computing reference architecture (known as MAPE-K), this work defines a refined architecture following the Robotics perspective. To explore the capabilities of the proposed refinement, we implemented the RoCS (Robotics and Cognitive Systems) framework for autonomous robots. We successfully tested the framework under simulated robotics scenarios that mimic typical robotics tasks and evidence the framework reuse capability. Finally, we understand the proposed framework needs further experimental evaluation, particularly, assessments on real-world scenarios.
Highlights
With the expansion of autonomous robotics and its applications, the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully
We provide the following additional contributions: i) we expand the analysis of the state of the art, discussing the limitations of related work, and justifying our choice of the MAPE-K architecture; ii) we improve the description of the Knowledge component, which was only briefly introduced in the conference version. iii) we clarify the relationship of our proposal to the very popular Robot Operating System (ROS) (Robotics Operating System) middleware, and iv) we improve the evaluation by reporting on two new experiments, involving robots with different physical structures and applications with different tasks
We demonstrated the application of the RoCS framework in increasingly complex scenarios
Summary
With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully. With the expansion of cooperative, distributed, and assistive robotics and the widespread utilization of bipedal, aerial, and aquatic robots, other challenges were incorporated, such as multiple robot coordination, human-robot interaction, and three-dimensional control and navigation. These new scenarios demand more complex algorithms and the interaction of various AI (Artificial Intelligence) techniques. We define RoCS, a development framework to support the current state of autonomous robotics, targeting easier reuse and portability of modules.
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