MAUVE Runtime: A Component-Based Middleware to Reconfigure Software Architectures in Real-Time

Abstract

Developing robotic applications requires to design and implement complex software architectures. These architectures must embed advanced algorithms that include capacities to adapt to unforeseen events like external disturbances, sensor or actuator failures. To improve the system robustness, its behavior should be adapted at runtime by a reconfiguration of its software architecture. Such reconfiguration must be done safely and efficiently, while ensuring functional constraints and a minimal quality of service of the system. Among these constraints, preserving real-time properties of the reconfiguration process is a key feature. In this paper, we present the preliminary design of a new component-based middleware that allows to perform software architecture reconfigurations with a focus on real-time constraints.