MROS: A framework for robot self-adaptation

Metacontrol [6] is a framework that incorporates systems with the capability to self-adapt to maintain their functionalities at an Self-adaptation can be used in robotics to increase system robustness expected performance. Metacontrol has the design goals of being and reliability. This work describes the Metacontrol method reusable and extensible. This is achieved with the design principles: for self-adaptation in robotics. Particularly, it details how the MROS (1) separating the adaptation and application reasoning; (2) exploiting (Metacontrol for ROS Systems) framework implements and packages at runtime the engineering knowledge of how the system is Metacontrol, and it demonstrate how MROS can be applied in designed to reason how and when the system needs to adapt, i.e., a navigation scenario where a mobile robot navigates in a factory by being model-based.