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.
In REF , the authors present an approach which uses a DSL to handle run-time variability in programs for service robots.
Dealing with Run-Time Variability in Service Robotics: Towards a DSL for Non-Functional Properties
ArXiv
ArXiv
Computer Science Engineering