Building Resource Adaptive Software Systems Model-Based Adaptation for Robotics Software
Technical Report,01 Nov 2015,31 Dec 2019
Carnegie Mellon University Pittsburgh United States
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The Model-Based Adaptation for Mobile Robotics MARS Defense Advanced Research Projects Agency DARPA Building Resource Adaptive Software Systems BRASS effort demonstrated novel techniques to make mobile robotics software so that it can be more easily adapted to different hardware, tasks, and environments. The approach builds software so flexible that it is able to adapt itself to changing environments over a period of years or even decades. The primary intellectual leverage comes from models formal descriptions of the structure and properties of robotic software, and how these respond to environmental change. Using these models, the developed approach enables robots to automatically explore potential adaptations to the system architecture and code and then choose the adaptation that best meets system objectives in the current environment.