A Modeling Tool for Reconfigurable Skills in ROS
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). The implementation of adaptable architectures is very often ad hoc, quickly gets cumbersome and expensive. Reusable solutions that support complex, runtime reasoning for robot adaptation have been seen in the adoption of ontologies. While the usage of ontologies significantly increases system reuse and maintainability, it requires additional effort from the application developers to translate requirements into formal rules that can be used by an ontological reasoner. In this paper, we present a design tool that facilitates the specification of reconfigurable robot skills. Based on the specified skills, we generate corresponding runtime models for self-adaptation that can be directly deployed to a running robot that uses a reasoning approach based on ontologies. We demonstrate the applicability of the tool in a real robot performing a patrolling mission at a university campus.
Wed 2 JunDisplayed time zone: Amsterdam, Berlin, Bern, Rome, Stockholm, Vienna change
15:00 - 16:00 | |||
15:00 15mResearch paper | Considerations for using Block-Based Languages for Industrial Robot Programming -- a Case Study RoSE 2021 Christoph Mayr-Dorn Johannes Kepler University, Linz, Mario Winterer Software Competence Center Hagenberg GmbH, Christian Salomon Software Competence Center Hagenberg GmbH, Doris Hohensinger Software Competence Center Hagenberg GmbH, Rudolf Ramler Software Competence Center Hagenberg | ||
15:15 15mResearch paper | The High-Assurance ROS Framework RoSE 2021 André Santos INESC TEC & University of Minho, Alcino Cunha University of Minho and INESC TEC, Portugal, Nuno Macedo Faculty of Engineering, University of Porto and INESC TEC | ||
15:30 15mResearch paper | A Modeling Tool for Reconfigurable Skills in ROS RoSE 2021 Darko Bozhinoski Department of Cognitive Robotics, Delft University of Technology, Esther Aguado UPM, Carlos Hernández Corbato Delft University of Technology, Mario Garzon Oviedo Department of Cognitive Robotics, Delft University of Technology, Ricardo Sanz UPM, Andrzej Wąsowski IT University of Copenhagen, Denmark | ||
15:45 15mResearch paper | Inferred Interactive Controls Through Provenance Tracking of ROS Message Data RoSE 2021 |
Time Title Who 3:00 Considerations for using Block-Based Languages for Industrial Robot Programming – a Case Study Christoph Mayr-Dorn, Mario Winterer, Christian Salomon, Doris Hohensinger and Rudolf Ramler 3:15 The High-Assurance ROS Framework André Santos, Alcino Cunha and Nuno Macedo 3:30 A Modeling Tool for Reconfigurable Skills in ROS Darko Bozhinoski, Esther Aguado, Carlos Hernández Corbato, Mario Garzon Oviedo, Ricardo Sanz and Andrzej Wasowski 3:45 Inferred Interactive Controls Through Provenance Tracking of ROS Message Data Thomas Witte and Matthias Tichy