Autonomous robots need to be able to handle uncertainties when deployed in the real world. For the robot to be able to robustly work in such an environment, it needs to be able to adapt both its architecture as well as its task plan. Architecture adaptation and task plan adaptation are mutually dependent, and therefore require the system to apply runtime architecture and task plan co-adaptation. This work presents Metaplan, which makes use of models of the robot and its environment, together with a PDDL planner to apply runtime architecture and task plan co-adaptation. Metaplan is designed to be easily reusable across different domains. Metaplan is shown to successfully perform runtime architecture and task plan co-adaptation with a self-adaptive unmanned underwater vehicle exemplar, and its reusability is demonstrated by applying it to an unmanned ground vehicle.

Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this paper presents SUAVE, an exemplar for two-layered system-level adaptation of AUVs, which clearly separates the application and self-adaptation concerns. The exemplar focuses on a mission for underwater pipeline inspection by a single AUV, implemented as a ROS2-based system. This mission must be completed while simultaneously accounting for uncertainties such as thruster failures and unfavorable environmental conditions. The paper discusses how SUAVE can be used with different self-adaptation frameworks, illustrated by an experiment using the Metacontrol framework to compare AUV behavior with and without self-adaptation. The experiment shows that the use of Metacontrol to adapt the AUV during its mission improves its performance when measured by the overall time taken to complete the mission or the length of the inspected pipeline.

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.

Flow is a psychological state that is reported to improve people’s performance. Flow can emerge when the person’s skills and the challenges of their activity match. This paper applies this concept to artificial intelligence agents. We equip a decision-making agent with a metacontrol policy that guides the agent to activities where the agent’s skills match the activity difficulty. Consequently, we expect the agent’s performance to improve. We implement and evaluate this approach in the role-playing game of Angband.