A repository framework for self-growing robot software

Abstract

Self-growing software is a software system that grows its functionalities and configurations by itself based on dynamically monitored situations. Self-growing software is especially necessary for intelligent service robots, which monitor their surrounding environments and provide appropriate behaviors for human users. Intelligent service robots often face problems that cannot be resolved with the conventional software technology. To support self-growing software for intelligent service robots, the SemBots project at ICU is developing a repository framework that allows robot software to dynamically acquire software components that are necessary to resolve a dynamic situation. In this paper, we describe the requirements and architecture of the repository system for self-growing software. We also present a prototype implementation of the repository system.