System Modes - Digestible System (Re-)Configuration for Robotics
2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)(2021)
摘要
High-level deliberation in robotic systems has to handle three different but closely interwoven aspects simultaneously: intended tasks, contingencies, and system-level errors. To reduce the complexity, we propose the system modes concept, to abstract runtime state information and reconfiguration of the software components of the underlying layers by a model-based approach. The proposed concept int...
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关键词
configuration,abstraction,parametrization,ros,modes
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