{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T19:43:07Z","timestamp":1768678987130,"version":"3.49.0"},"reference-count":161,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2025,4,8]],"date-time":"2025-04-08T00:00:00Z","timestamp":1744070400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,4,8]],"date-time":"2025-04-08T00:00:00Z","timestamp":1744070400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["ECS00000041"],"award-info":[{"award-number":["ECS00000041"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["PE0000020"],"award-info":[{"award-number":["PE0000020"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Empir Software Eng"],"published-print":{"date-parts":[[2025,7]]},"abstract":"<jats:title>Abstract<\/jats:title>\n          <jats:p>Robots often need to be reconfigurable\u2014to customize, calibrate, or optimize robots operating in varying environments with different hardware. A particular challenge in robotics is the automated and dynamic reconfiguration to load and unload software components, as well as parameterizing them. Over the last decades, a large variety of software reconfiguration techniques has been presented in the literature, many specifically for robotics systems. Also many robotics frameworks support reconfiguration. Unfortunately, there is a lack of empirical data on the actual use of reconfiguration techniques in real robotics projects and on their realization in robotics frameworks. To advance reconfiguration techniques and support their adoption, we need to improve our empirical understanding of them in practice. We present a study of automated reconfiguration at runtime in the robotics domain. We determine the state-of-the art by reviewing 78 relevant publications on reconfiguration. We determine the state-of-practice by analyzing how four major robotics frameworks support reconfiguration, and how reconfiguration is realized in 48 robotics (sub-)systems. We contribute a detailed analysis of the design space of reconfiguration techniques. We identify trends and research gaps. Our results show a significant discrepancy between the state-of-the-art and the state-of-practice. While the scientific community focuses on complex structural reconfiguration, only parameter reconfiguration is widely used in practice. Our results support practitioners to realize reconfiguration in robotics systems, as well as they support researchers and tool builders to create more effective reconfiguration techniques that are adopted in practice.<\/jats:p>","DOI":"10.1007\/s10664-024-10596-9","type":"journal-article","created":{"date-parts":[[2025,4,8]],"date-time":"2025-04-08T21:34:01Z","timestamp":1744148041000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Software reconfiguration in robotics"],"prefix":"10.1007","volume":"30","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2604-0487","authenticated-orcid":false,"given":"Sven","family":"Peldszus","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1024-3941","authenticated-orcid":false,"given":"Davide","family":"Brugali","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5969-3521","authenticated-orcid":false,"given":"Daniel","family":"Str\u00fcber","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5438-2281","authenticated-orcid":false,"given":"Patrizio","family":"Pelliccione","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3870-5167","authenticated-orcid":false,"given":"Thorsten","family":"Berger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,4,8]]},"reference":[{"issue":"10","key":"10596_CR1","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1145\/236156.236168","volume":"39","author":"A Aarsten","year":"1996","unstructured":"Aarsten A, Brugali D, Menga G (1996) Designing Concurrent and Distributed Control Systems. Commun ACM 39(10):50\u201358. https:\/\/doi.org\/10.1145\/236156.236168","journal-title":"Commun ACM"},{"key":"10596_CR2","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1007\/978-3-319-06773-5_23","volume":"313","author":"T Abukhalil","year":"2015","unstructured":"Abukhalil T, Sobh T, Patil M (2015) Survey on decentralized modular robots and control platforms. Lect Notes Electr Eng 313:165\u2013175","journal-title":"Lect Notes Electr Eng"},{"key":"10596_CR3","doi-asserted-by":"publisher","unstructured":"Aghajani E, Nagy C, Vega-M\u00e1rquez OL, Linares-V\u00e1squez M, Moreno L, Bavota G, Lanza M (2019) Software Documentation Issues Unveiled. In: Atlee JM, Bultan T, Whittle J (Eds) International conference on software engineering (ICSE), IEEE \/ ACM, pp 1199\u20131210. https:\/\/doi.org\/10.1109\/ICSE.2019.00122","DOI":"10.1109\/ICSE.2019.00122"},{"issue":"4","key":"10596_CR4","doi-asserted-by":"publisher","first-page":"121","DOI":"10.3390\/s21041210","volume":"21","author":"E Aguado","year":"2021","unstructured":"Aguado E, Milosevic Z, Hern\u00e1ndez C, Sanz R, Oviedo MAG, Bozhinoski D, Rossi C (2021) Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy. Sensors 21(4):121. https:\/\/doi.org\/10.3390\/s21041210","journal-title":"Sensors"},{"key":"10596_CR5","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1016\/j.jss.2016.08.039","volume":"122","author":"A Ahmad","year":"2016","unstructured":"Ahmad A, Babar MA (2016) Software architectures for robotic systems: A systematic mapping study. J Syst Softw (JSS) 122:16\u201339","journal-title":"J Syst Softw (JSS)"},{"key":"10596_CR6","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1016\/j.artint.2015.02.004","volume":"223","author":"H Ahmadzadeh","year":"2015","unstructured":"Ahmadzadeh H, Masehian E (2015) Modular robotic systems: Methods and algorithms for abstraction, planning, control, and synchronization. Artif Intell 223:27\u201364. https:\/\/doi.org\/10.1016\/j.artint.2015.02.004","journal-title":"Artif Intell"},{"issue":"4","key":"10596_CR7","doi-asserted-by":"publisher","first-page":"315","DOI":"10.1177\/027836499801700402","volume":"17","author":"R Alami","year":"1998","unstructured":"Alami R, Chatila R, Fleury S, Ghallab M, Ingrand F (1998) An architecture for autonomy. Int J Robot Res 17(4):315\u2013337. https:\/\/doi.org\/10.1177\/027836499801700402","journal-title":"Int J Robot Res"},{"key":"10596_CR8","doi-asserted-by":"publisher","first-page":"1014","DOI":"10.1007\/978-3-319-64352-6_94","volume":"22","author":"R Alattas","year":"2018","unstructured":"Alattas R (2018) Analyzing modular robotic systems. Lect Notes Netw Syst 22:1014\u20131028","journal-title":"Lect Notes Netw Syst"},{"key":"10596_CR9","doi-asserted-by":"publisher","first-page":"11157","DOI":"10.1016\/j.jss.2022.111574","volume":"197","author":"M Albonico","year":"2023","unstructured":"Albonico M, \u0110or\u0111evi\u0107 M, Hamer E, Malavolta I (2023) Software engineering research on the robot operating system: A systematic mapping study. J Syst Softw 197:11157. https:\/\/doi.org\/10.1016\/j.jss.2022.111574","journal-title":"J Syst Softw"},{"key":"10596_CR10","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-37521-7","volume-title":"Feature-Oriented Software Product Lines","author":"S Apel","year":"2013","unstructured":"Apel S, Batory D, K\u00e4stner C, Saake G (2013) Feature-Oriented Software Product Lines. Springer, Berlin Heidelberg"},{"key":"10596_CR11","doi-asserted-by":"publisher","unstructured":"Benmoussa S, Loureiro R, Touati Y, Merzouki R (2013) Monitoring of Robot Path Tracking: Reconfiguration Strategy Design and Experimental Validation. In: Proceedings of the international conference on intelligent robots and systems, pp 5821\u20135826. https:\/\/doi.org\/10.1109\/IROS.2013.6697199","DOI":"10.1109\/IROS.2013.6697199"},{"key":"10596_CR12","doi-asserted-by":"publisher","unstructured":"Berge-Cherfaoui V, Vachon B (1994) Dynamic Configuration of Mobile Robot Perceptual System. In: Proceedings of 1994 IEEE international conference on multisensor fusion and integration for intelligent systems (MFI), pp 707\u2013714. https:\/\/doi.org\/10.1109\/MFI.1994.398385","DOI":"10.1109\/MFI.1994.398385"},{"issue":"12","key":"10596_CR13","doi-asserted-by":"publisher","first-page":"1611","DOI":"10.1109\/TSE.2013.34","volume":"39","author":"T Berger","year":"2013","unstructured":"Berger T, She S, Lotufo R, Wasowski A, Czarnecki K (2013) A study of variability models and languages in the systems software domain. IEEE Trans Softw Eng 39(12):1611\u20131640","journal-title":"IEEE Trans Softw Eng"},{"issue":"11","key":"10596_CR14","doi-asserted-by":"publisher","first-page":"1520","DOI":"10.1016\/j.infsof.2014.05.005","volume":"56","author":"T Berger","year":"2014","unstructured":"Berger T, Pfeiffer RH, Tartler R, Dienst S, Czarnecki K, Wasowski A, She S (2014) Variability mechanisms in software ecosystems. Inf Softw Technol 56(11):1520\u20131535","journal-title":"Inf Softw Technol"},{"key":"10596_CR15","doi-asserted-by":"publisher","first-page":"1755","DOI":"10.1007\/s10664-019-09787-6","volume":"25","author":"T Berger","year":"2020","unstructured":"Berger T, Stegh\u00f6fer JP, Ziadi T, Robin J, Martinez J (2020) The state of adoption and the challenges of systematic variability management in industry. Empir Softw Eng 25:1755\u20131797","journal-title":"Empir Softw Eng"},{"key":"10596_CR16","doi-asserted-by":"publisher","unstructured":"Bi ZM, Gruver WA, Zhang W (2003) Adaptability of Reconfigurable Robotic Systems. In: Proceedings of the international conference on robotics and automation (ICRA), pp 2317\u20132322. https:\/\/doi.org\/10.1109\/ROBOT.2003.1241939","DOI":"10.1109\/ROBOT.2003.1241939"},{"key":"10596_CR17","doi-asserted-by":"publisher","unstructured":"Boluda JA, Pardo F, Blasco F, Pelechano J (1999) A Pipelined Reconfigurable Architecture for Visual-Based Navigation. In: Proceedings of the 25th conference on informatics: theory and practice for the New Millenium (EUROMICRO), pp 1071\u20131074. https:\/\/doi.org\/10.1109\/EURMIC.1999.794449","DOI":"10.1109\/EURMIC.1999.794449"},{"key":"10596_CR18","doi-asserted-by":"publisher","unstructured":"Bozhinoski D, Aguado E, Oviedo MG, Corbato CH, Sanz R, Wasowski A (2021) A Modeling Tool for Reconfigurable Skills in ROS. In: Proceedings of the 3rd international workshop on robotics software engineering (RoSE@ICSE), pp 25\u201328. https:\/\/doi.org\/10.1109\/RoSE52553.2021.00011","DOI":"10.1109\/RoSE52553.2021.00011"},{"issue":"11","key":"10596_CR19","doi-asserted-by":"publisher","first-page":"502","DOI":"10.1080\/01691864.2022.2039761","volume":"36","author":"D Bozhinoski","year":"2022","unstructured":"Bozhinoski D, Oviedo MG, Garcia NH, Deshpande H, van der Hoorn G, Tjerngren J, Wasowski A, Corbato CH (2022) MROS: Runtime Adaptation for Robot Control Architectures. Adv Robot 36(11):502\u2013518. https:\/\/doi.org\/10.1080\/01691864.2022.2039761","journal-title":"Adv Robot"},{"key":"10596_CR20","doi-asserted-by":"publisher","unstructured":"Braman JMB, Murray RM, Wagner DA (2007) Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-based Robotic Control System. In: Proceedings of the international conference on intelligent robots and systems, pp 853\u2013858. https:\/\/doi.org\/10.1109\/IROS.2007.4399230","DOI":"10.1109\/IROS.2007.4399230"},{"key":"10596_CR21","doi-asserted-by":"publisher","unstructured":"Brandst\u00f6tter M, Hofbaur MW, Steinbauer G, Wotawa F (2007) Model-based Fault Diagnosis and Reconfiguration of Robot Drives. In: Proceedings of the international conference on intelligent robots and systems, pp 1203\u20131209. https:\/\/doi.org\/10.1109\/IROS.2007.4399092","DOI":"10.1109\/IROS.2007.4399092"},{"key":"10596_CR22","doi-asserted-by":"publisher","unstructured":"Brugali D (2020) Runtime Reconfiguration of Robot Control Systems: A ROS-based Case Study. In: Proceedings of the international conference on robotic computing (IRC), pp 256\u2013262. https:\/\/doi.org\/10.1109\/IRC.2020.00047","DOI":"10.1109\/IRC.2020.00047"},{"key":"10596_CR23","doi-asserted-by":"crossref","unstructured":"Brugali D, Gherardi L (2016) Hyperflex: A Model Driven Toolchain for Designing and Configuring Software Control Systems for Autonomous Robots, Springer, pp 509\u2013534","DOI":"10.1007\/978-3-319-26054-9_20"},{"issue":"4","key":"10596_CR24","doi-asserted-by":"publisher","first-page":"84","DOI":"10.1109\/mra.2009.934837","volume":"16","author":"D Brugali","year":"2009","unstructured":"Brugali D, Scandurra P (2009) Component-based robotic engineering (Part I) [Tutorial]. Robot Autom Mag, IEEE 16(4):84\u201396. https:\/\/doi.org\/10.1109\/mra.2009.934837","journal-title":"Robot Autom Mag, IEEE"},{"issue":"1","key":"10596_CR25","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1109\/mra.2010.935798","volume":"17","author":"D Brugali","year":"2010","unstructured":"Brugali D, Shakhimardanov A (2010) Component-Based Robotic Engineering (Part II). Robot Autom Mag 17(1):100\u2013112. https:\/\/doi.org\/10.1109\/mra.2010.935798","journal-title":"Robot Autom Mag"},{"key":"10596_CR26","doi-asserted-by":"publisher","first-page":"259","DOI":"10.1007\/978-3-540-68951-5_15","volume":"30","author":"D Brugali","year":"2007","unstructured":"Brugali D, Broten G, Cisternino A, Colombo D, Fritsch J, Gerkey B, Kraetzschmar G, Vaughan R, Utz H (2007) Trends in robotic software frameworks. Springer Tracts Adv Robot 30:259\u2013266","journal-title":"Springer Tracts Adv Robot"},{"key":"10596_CR27","doi-asserted-by":"crossref","unstructured":"Brugali D, Capilla R, Mirandola R, Trubiani C (2018) Model-based Development of Qos-aware Reconfigurable Autonomous Robotic Systems. In: Proceedings of the international conference on robotic computing (IRC), pp 129\u2013136","DOI":"10.1109\/IRC.2018.00027"},{"key":"10596_CR28","doi-asserted-by":"crossref","unstructured":"Bruyninckx H (2001) Open robot control software: the OROCOS project. In: Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, IEEE, vol 3, pp 2523\u20132528","DOI":"10.1109\/ROBOT.2001.933002"},{"issue":"4","key":"10596_CR29","doi-asserted-by":"publisher","first-page":"611","DOI":"10.1109\/3477.604104","volume":"27","author":"J Budenske","year":"1997","unstructured":"Budenske J, Gini ML (1997) Sensor Explication: Knowledge-based Robotic Plan Execution through Logical Objects. IEEE Trans Syst Man Cybern Syst 27(4):611\u2013625. https:\/\/doi.org\/10.1109\/3477.604104","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"issue":"2","key":"10596_CR30","doi-asserted-by":"publisher","first-page":"174","DOI":"10.1007\/s11633-008-0174-0","volume":"5","author":"A de Cabrol","year":"2008","unstructured":"de Cabrol A, Garcia-Fernandez T, Bonnin P, Chetto M (2008) A Concept of Dynamically Reconfigurable Real-Time Vision System for Autonomous Mobile Robotics. Int J Autom Comput 5(2):174\u2013184. https:\/\/doi.org\/10.1007\/s11633-008-0174-0","journal-title":"Int J Autom Comput"},{"key":"10596_CR31","doi-asserted-by":"publisher","unstructured":"Calinescu R, Mirandola R, Perez-Palacin D, Weyns D (2020) Understanding uncertainty in self-adaptive systems. In: 2020 IEEE international conference on autonomic computing and self-organizing systems (ACSOS), pp 242\u2013251. https:\/\/doi.org\/10.1109\/ACSOS49614.2020.00047","DOI":"10.1109\/ACSOS49614.2020.00047"},{"issue":"11","key":"10596_CR32","doi-asserted-by":"publisher","first-page":"992","DOI":"10.1016\/j.robot.2008.08.008","volume":"56","author":"D Calisi","year":"2008","unstructured":"Calisi D, Iocchi L, Nardi D, Scalzo CM, Ziparo VA (2008) Context-based Design of Robotic Systems. Robot Auton Syst 56(11):992\u20131003. https:\/\/doi.org\/10.1016\/j.robot.2008.08.008","journal-title":"Robot Auton Syst"},{"key":"10596_CR33","doi-asserted-by":"crossref","unstructured":"C\u00e1mara J, Schmerl B, Garlan D (2020) Software architecture and task plan co-adaptation for mobile service robots. In: Proceedings of the 15th international symposium on software engineering for adaptive and self-managing systems, pp 125\u2013136","DOI":"10.1145\/3387939.3391591"},{"key":"10596_CR34","doi-asserted-by":"publisher","unstructured":"Cardoso RC, Dennis LA, Fisher M (2019) Plan Library Reconfigurability in BDI Agents. In: Proceedings of the 7th international workshop on engineering multi-agent systems (EMAS), pp 195\u2013212. https:\/\/doi.org\/10.1007\/978-3-030-51417-4_10","DOI":"10.1007\/978-3-030-51417-4_10"},{"issue":"4","key":"10596_CR35","doi-asserted-by":"publisher","first-page":"344","DOI":"10.1016\/j.infsof.2010.12.006","volume":"53","author":"L Chen","year":"2011","unstructured":"Chen L, Babar MA (2011) A Systematic Review of Evaluation of Variability Management Approaches in Software Product Lines. Inf Softw Technol 53(4):344\u2013362","journal-title":"Inf Softw Technol"},{"key":"10596_CR36","doi-asserted-by":"crossref","unstructured":"Chennareddy S, Agrawal A, Karuppiah A (2017) Modular self-reconfigurable robotic systems: A survey on hardware architectures. J Robot 2017","DOI":"10.1155\/2017\/5013532"},{"key":"10596_CR37","doi-asserted-by":"publisher","unstructured":"Cobleigh JM, Osterweil LJ, Wise AE, Lerner BS (2002) Containment Units: A Hierarchically Composable Architecture for Adaptive Systems. In: Proceedings of the 10th ACM SIGSOFT symposium on foundations of software engineering (FSE), pp 159\u2013165. https:\/\/doi.org\/10.1145\/587051.587076","DOI":"10.1145\/587051.587076"},{"key":"10596_CR38","doi-asserted-by":"crossref","unstructured":"Colledanchise M, \u00d6gren P (2018) Behavior trees in robotics and AI: An introduction. CRC Press","DOI":"10.1201\/9780429489105"},{"issue":"2","key":"10596_CR39","doi-asserted-by":"publisher","first-page":"12","DOI":"10.1109\/MRA.2010.936956","volume":"17","author":"S Cousins","year":"2010","unstructured":"Cousins S, Gerkey B, Conley K, Garage W (2010) Sharing software with Ros [ros topics]. Robot Autom Mag 17(2):12\u201314. https:\/\/doi.org\/10.1109\/MRA.2010.936956","journal-title":"Robot Autom Mag"},{"key":"10596_CR40","doi-asserted-by":"publisher","unstructured":"de\u00a0la Cruz P, Piater JH, Saveriano M (2020) Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-level Decision Making and Control Layer Features. In: Proceedings of the international conference on systems, man, and cybernetics (SMC), pp 1915\u20131922. https:\/\/doi.org\/10.1109\/SMC42975.2020.9282817","DOI":"10.1109\/SMC42975.2020.9282817"},{"key":"10596_CR41","doi-asserted-by":"publisher","unstructured":"Dalal S, Horgan J, Kettenring J (1993) Reliable software and communication: software quality, reliability, and safety. In: International conference on software engineering (ICSE), pp 425\u2013435. https:\/\/doi.org\/10.1109\/ICSE.1993.346023","DOI":"10.1109\/ICSE.1993.346023"},{"key":"10596_CR42","doi-asserted-by":"publisher","unstructured":"Doose D, Grand C, Lesire C (2017) MAUVE Runtime: A Component-Based Middleware to Reconfigure Software Architectures in Real-Time. In: Proceedings of the international conference on robotic computing (IRC), pp 208\u2013211. https:\/\/doi.org\/10.1109\/IRC.2017.47","DOI":"10.1109\/IRC.2017.47"},{"key":"10596_CR43","doi-asserted-by":"crossref","unstructured":"Dorf R, Bishop R (2011) Modern control systems. Person Education","DOI":"10.1016\/B978-0-08-096634-2.00033-5"},{"key":"10596_CR44","doi-asserted-by":"crossref","unstructured":"Dudek G, Jenkin M, Milios E, Wilkes D (1993) Taxonomy for Swarm Robots. In: Proceedings of the international conference on intelligent robots and systems, pp 441 \u2013 447","DOI":"10.1109\/IROS.1993.583135"},{"issue":"9","key":"10596_CR45","doi-asserted-by":"publisher","first-page":"2202","DOI":"10.4304\/jsw.8.9.2202-2207","volume":"8","author":"MC Eddin","year":"2013","unstructured":"Eddin MC (2013) Towards a Taxonomy of Dynamic Reconfiguration Approaches. J Softw 8(9):2202\u20132207","journal-title":"J Softw"},{"key":"10596_CR46","doi-asserted-by":"publisher","unstructured":"Edwards G, Garcia J, Tajalli H, Popescu D, Medvidovic N, Sukhatme GS, Petrus B (2009) Architecture-Driven Self-Adaptation and Self-Management in Robotics Systems. In: Proceedings of the workshop on software engineering for adaptive and self-managing systems (SEAMS), pp 142\u2013151. https:\/\/doi.org\/10.1109\/SEAMS.2009.5069083","DOI":"10.1109\/SEAMS.2009.5069083"},{"key":"10596_CR47","doi-asserted-by":"crossref","unstructured":"Elkady AY (2012) Robotics middleware: A comprehensive literature survey and attribute-based bibliography. J Robot 959013:1-959013:15","DOI":"10.1155\/2012\/959013"},{"key":"10596_CR48","doi-asserted-by":"publisher","first-page":"226","DOI":"10.1016\/j.jss.2019.02.024","volume":"151","author":"P Estefo","year":"2019","unstructured":"Estefo P, Simmonds J, Robbes R, Fabry J (2019) The robot operating system: Package reuse and community dynamics. J Syst Softw 151:226\u2013242","journal-title":"J Syst Softw"},{"issue":"2","key":"10596_CR49","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1006\/rtim.1997.0077","volume":"4","author":"JA Fayman","year":"1998","unstructured":"Fayman JA, Rivlin E, Moss\u00e9 D (1998) FT-AVS: A Fault-tolerant Architecture for Real-Time Active Vision. Real Time Imaging 4(2):143\u2013157. https:\/\/doi.org\/10.1006\/rtim.1997.0077","journal-title":"Real Time Imaging"},{"key":"10596_CR50","doi-asserted-by":"publisher","first-page":"39432","DOI":"10.1109\/ACCESS.2019.2907193","volume":"7","author":"RAS Fern\u00e1ndez","year":"2019","unstructured":"Fern\u00e1ndez RAS, Grande D, Martins A, Bascetta L, Dom\u00ednguez S, Rossi C (2019) Modeling and control of underwater mine explorer robot UX-1. IEEE Access 7:39432\u20133944. https:\/\/doi.org\/10.1109\/ACCESS.2019.2907193","journal-title":"IEEE Access"},{"issue":"4","key":"10596_CR51","doi-asserted-by":"publisher","first-page":"375","DOI":"10.1177\/105971239400200403","volume":"2","author":"C Ferrell","year":"1994","unstructured":"Ferrell C (1994) Failure Recognition and Fault Tolerance of an Autonomous Robot. Adapt Behav 2(4):375\u2013398. https:\/\/doi.org\/10.1177\/105971239400200403","journal-title":"Adapt Behav"},{"key":"10596_CR52","unstructured":"Firby RJ, Slack MG, Drive C (1995) Task Execution: Interfacing to Reactive Skill Networks. In: Proceedings of the AAAI spring symposium"},{"issue":"1","key":"10596_CR53","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1016\/j.robot.2007.09.014","volume":"56","author":"PM Fitzpatrick","year":"2008","unstructured":"Fitzpatrick PM, Metta G, Natale L (2008) Towards long-lived robot genes. Robot Auton Syst 56(1):29\u201345. https:\/\/doi.org\/10.1016\/j.robot.2007.09.014","journal-title":"Robot Auton Syst"},{"key":"10596_CR54","doi-asserted-by":"publisher","unstructured":"Fleury S, Herrb M, Chatila R (1997) G\/sup en\/om: a tool for the specification and the implementation of operating modules in a distributed robot architecture. In: Proceedings of the international conference on intelligent robots and systems (IROS), vol\u00a02, pp 842\u2013849. https:\/\/doi.org\/10.1109\/IROS.1997.655108","DOI":"10.1109\/IROS.1997.655108"},{"issue":"3\u20134","key":"10596_CR55","doi-asserted-by":"publisher","first-page":"829","DOI":"10.1007\/s10846-018-0921-6","volume":"95","author":"G Fornari","year":"2019","unstructured":"Fornari G, de Santiago J\u00fanior VA (2019) Dynamically Reconfigurable Systems: A Systematic Literature Review. J Intell Robot Syst 95(3\u20134):829\u2013849. https:\/\/doi.org\/10.1007\/s10846-018-0921-6","journal-title":"J Intell Robot Syst"},{"key":"10596_CR56","doi-asserted-by":"crossref","unstructured":"Franz P, Berger T, Fayaz I, Nadi S, Groshev E (2021) Configfix: Interactive configuration conflict resolution for the linux kernel. In: Proceedings of the international conference on software engineering, software engineering in practice track (ICSE\/SEIP)","DOI":"10.1109\/ICSE-SEIP52600.2021.00018"},{"key":"10596_CR57","doi-asserted-by":"publisher","unstructured":"Fritsch S, Senart A, Schmidt DC, Clarke S (2008) Time-bounded adaptation for automotive system software. In: International conference on software engineering (ICSE), pp 571\u2013580. https:\/\/doi.org\/10.1145\/1368088.1368166","DOI":"10.1145\/1368088.1368166"},{"issue":"2","key":"10596_CR58","doi-asserted-by":"publisher","first-page":"122","DOI":"10.1515\/itit-2014-1063","volume":"57","author":"J Frost","year":"2015","unstructured":"Frost J, Stechele W, Maehle E (2015) Self-Reconfigurable Control Architecture for Complex Mobile Robots. It - Inf Technol 57(2):122\u2013129. https:\/\/doi.org\/10.1515\/itit-2014-1063","journal-title":"It - Inf Technol"},{"key":"10596_CR59","doi-asserted-by":"publisher","unstructured":"Gafni V (1999) Robots: A Real-Time Systems Architectural Style. In: Proceedings of the 7th european software engineering conference (ESEC\/FSE), pp 57\u201374. https:\/\/doi.org\/10.1007\/3-540-48166-4_5","DOI":"10.1007\/3-540-48166-4_5"},{"key":"10596_CR60","unstructured":"Garc\u00eda S, Str\u00fcber D, Brugali D, Berger T, Pelliccione P (2020a) Accompanying Technical Report for An Empirical Assessment of Robotics Software Engineering"},{"key":"10596_CR61","doi-asserted-by":"crossref","unstructured":"Garc\u00eda S, Str\u00fcber D, Brugali D, Berger T, Pelliccione P (2020b) Robotics Software Engineering: A Perspective from the Service Robotics Domain. In: European software engineering conference and symposium on the foundations of software engineering","DOI":"10.1145\/3368089.3409743"},{"key":"10596_CR62","doi-asserted-by":"crossref","unstructured":"Garc\u00eda S, Str\u00fcber D, Brugali D, Di\u00a0Fava A, Pelliccione P, Berger T (2022) Software variability in service robotics. Empir Softw Eng (EMSE)","DOI":"10.1007\/s10664-022-10231-5"},{"issue":"4","key":"10596_CR63","doi-asserted-by":"publisher","first-page":"248","DOI":"10.1007\/S00766-004-0204-6","volume":"9","author":"A Gemino","year":"2004","unstructured":"Gemino A, Wand Y (2004) A Framework for Empirical Evaluation of Conceptual Modeling Techniques. Requir Eng 9(4):248\u2013260. https:\/\/doi.org\/10.1007\/S00766-004-0204-6","journal-title":"Requir Eng"},{"key":"10596_CR64","unstructured":"Gerkey B (2014) Why ROS 2? https:\/\/design.ros2.org\/articles\/why_ros2.html"},{"key":"10596_CR65","doi-asserted-by":"publisher","unstructured":"Gherardi L, Hochgeschwender N (2015) RRA: Models and Tools for Robotics Run-Time Adaptation. In: Proceedings of the international conference on intelligent robots and systems (IROS), pp 1777\u20131784. https:\/\/doi.org\/10.1109\/IROS.2015.7353608","DOI":"10.1109\/IROS.2015.7353608"},{"key":"10596_CR66","unstructured":"Goldhoorn M, Joyeux S (2014) Extension of a Plan-based Component Manager for Real Time Adaptation. In: Proceedings of the 41st international symposium on robotics (ISR), pp 1\u20136"},{"key":"10596_CR67","doi-asserted-by":"publisher","unstructured":"Guo J, Shi K (2018) To preserve or not to preserve invalid solutions in search-based software engineering: A case study in software product lines. In: Proceedings of the 40th international conference on software engineering, pp 1027-1038. https:\/\/doi.org\/10.1145\/3180155.3180163","DOI":"10.1145\/3180155.3180163"},{"key":"10596_CR68","unstructured":"Hartmann J, Stechele W, Maehle E (2013) Self-reconfigurable Control Architecture for Complex Robots. In: Proceedings of the 43rd Jahrestagung der Gesellschaft f\u00fcr Informatik, Informatik angepasst an Mensch, Organisation und Umwelt (INFORMATIK), pp 2742\u20132748"},{"issue":"4","key":"10596_CR69","doi-asserted-by":"publisher","first-page":"288","DOI":"10.1109\/32.385968","volume":"21","author":"B Hayes-Roth","year":"1995","unstructured":"Hayes-Roth B, Pfleger K, Lalanda P, Morignot P, Balabanovic M (1995) A Domain-Specific Software Architecture for Adaptive Intelligent Systems. IEEE Trans Softw Eng 21(4):288\u2013301. https:\/\/doi.org\/10.1109\/32.385968","journal-title":"IEEE Trans Softw Eng"},{"key":"10596_CR70","doi-asserted-by":"publisher","first-page":"517","DOI":"10.1109\/ICSE.2015.69","volume":"1","author":"C Henard","year":"2015","unstructured":"Henard C, Papadakis M, Harman M, Le Traon Y (2015) Combining Multi-Objective Search and Constraint Solving for Configuring Large Software Product Lines. Int Conf Softw Eng (ICSE) 1:517\u2013528. https:\/\/doi.org\/10.1109\/ICSE.2015.69","journal-title":"Int Conf Softw Eng (ICSE)"},{"key":"10596_CR71","doi-asserted-by":"publisher","unstructured":"Iftikhar MU, Weyns D (2014) ActivFORMS: Active Formal Models for Self-Adaptation. In: International symposium on software engineering for adaptive and self-managing systems (SEAMS), pp 125\u2013134. https:\/\/doi.org\/10.1145\/2593929.2593944","DOI":"10.1145\/2593929.2593944"},{"key":"10596_CR72","unstructured":"Ingl\u00e9s-Romero J, Lotz A, Chicote CV, Schlegel C (2012) Dealing with Run-time Variability in Service Robotics: Towards a Dsl for Non-functional Properties. In: Proceedings of the 3rd international workshop on domain-specific languages for robotic systems (DSLRob)"},{"key":"10596_CR73","doi-asserted-by":"publisher","unstructured":"Inohira E, Konno A, Uchiyama M (2003) Layered Multi-Agent Architecture with Dynamic Reconfigurability. In: Proceedings of the international conference on robotics and automation (ICRA), pp 4060\u20134065. https:\/\/doi.org\/10.1109\/ROBOT.2003.1242221","DOI":"10.1109\/ROBOT.2003.1242221"},{"key":"10596_CR74","doi-asserted-by":"crossref","unstructured":"Jamshidi P, C\u00e1mara J, Schmerl BR, K\u00e4stner C, Garlan D (2019) Machine Learning Meets Quantitative Planning: Enabling Self-Adaptation in Autonomous Robots. In: Proceedings of the 14th international symposium on software engineering for adaptive and self-managing systems (SEAMS)","DOI":"10.1109\/SEAMS.2019.00015"},{"key":"10596_CR75","doi-asserted-by":"publisher","DOI":"10.21236\/ADA235785","volume-title":"Feature-Oriented Domain Analysis (FODA): Feasibility Study","author":"K Kang","year":"1990","unstructured":"Kang K (1990) Feature-Oriented Domain Analysis (FODA): Feasibility Study. Tech. rep, DTIC Document"},{"key":"10596_CR76","doi-asserted-by":"publisher","unstructured":"Karuppiah DR, Zhu Z, Shenoy PJ, Riseman EM (2001) A Fault-Tolerant Distributed Vision System Architecture for Object Tracking in a Smart Room. In: Proceedings of the international conference on computer vision systems (ICVS), pp 201\u2013219. https:\/\/doi.org\/10.1007\/3-540-48222-9_14","DOI":"10.1007\/3-540-48222-9_14"},{"key":"10596_CR77","doi-asserted-by":"publisher","unstructured":"Kim D, Park S (2006) Designing Dynamic Software Architecture for Home Service Robot Software. In: Proceedings of the international conference on embedded and ubiquitous computing (EUC), pp 437\u2013448. https:\/\/doi.org\/10.1007\/11802167_45","DOI":"10.1007\/11802167_45"},{"key":"10596_CR78","doi-asserted-by":"publisher","unstructured":"Kim D, Park S, Jin Y, Chang H, Park Y, Ko I, Lee K, Lee J, Park Y, Lee S (2006) SHAGE: A Framework for Self-Managed Robot Software. In: Proceedings of the international workshop on self-adaptation and self-managing systems (SEAMS), pp 79\u201385. https:\/\/doi.org\/10.1145\/1137677.1137693","DOI":"10.1145\/1137677.1137693"},{"key":"10596_CR79","doi-asserted-by":"publisher","unstructured":"Kim J, Im C, Shin H, Yi KY, Lee HG (2003) A New Task-based Control Architecture for Personal Robots. In: Proceedings of the international conference on intelligent robots and systems, pp 1481\u20131486. https:\/\/doi.org\/10.1109\/IROS.2003.1248853","DOI":"10.1109\/IROS.2003.1248853"},{"key":"10596_CR80","doi-asserted-by":"publisher","unstructured":"Kim JH, Kim JO (2004) A Task Management Design for Task-based Control Architecture for Personal Robots. In: Proceedings of the 30th annual conference of the IEEE industrial electronics society (IECON), pp 152\u2013156. https:\/\/doi.org\/10.1109\/IECON.2004.1433301","DOI":"10.1109\/IECON.2004.1433301"},{"key":"10596_CR81","doi-asserted-by":"publisher","unstructured":"Kortenkamp D, Simmons R, Brugali D (2016) Robotic Systems Architectures and Programming. Springer Handbook of Robotics pp 283\u201306. https:\/\/doi.org\/10.1007\/978-3-319-32552-1_12","DOI":"10.1007\/978-3-319-32552-1_12"},{"key":"10596_CR82","doi-asserted-by":"crossref","unstructured":"Kozov A, Volosatova TM, Tachkov A (2021) Method of the Dynamic Reconfiguration of a Group Control System for Mobile Robots. In: Proceedings of the international russian automation conference (RusAutoCon), pp 991\u2013996","DOI":"10.1109\/RusAutoCon52004.2021.9537536"},{"key":"10596_CR83","doi-asserted-by":"publisher","unstructured":"Kramer JF, Scheutz M (2006) ADE: A Framework for Robust Complex Robotic Architectures. In: Proceedings of the international conference on intelligent robots and systems (IROS), pp 4576\u20134581. https:\/\/doi.org\/10.1109\/IROS.2006.282162","DOI":"10.1109\/IROS.2006.282162"},{"key":"10596_CR84","doi-asserted-by":"publisher","first-page":"184","DOI":"10.1016\/j.pmcj.2014.09.009","volume":"17","author":"C Krupitzer","year":"2015","unstructured":"Krupitzer C, Roth FM, VanSyckel S, Schiele G, Becker C (2015) A Survey on Engineering Approaches for Self-adaptive Systems. Pervasive Mob Comput 17:184\u2013206. https:\/\/doi.org\/10.1016\/j.pmcj.2014.09.009","journal-title":"Pervasive Mob Comput"},{"key":"10596_CR85","doi-asserted-by":"publisher","unstructured":"Kubota N, Nojima Y, Kojima F, Fukuda T (2001) Dual Learning for Perception and Behavior of Mobile Robots. In: Proceedings of the joint 9th IFSA world congress and 20th NAFIPS international conference, vol\u00a03, pp 1401\u20131406. https:\/\/doi.org\/10.1109\/NAFIPS.2001.943754","DOI":"10.1109\/NAFIPS.2001.943754"},{"key":"10596_CR86","doi-asserted-by":"publisher","unstructured":"Lee H, Choi H, Ko I (2005) A Semantically-Based Software Component Selection Mechanism for Intelligent Service Robots. In: Proceedings of the 4th mexican international conference on advances in artificial intelligence (MICAI), pp 1042\u20131051. https:\/\/doi.org\/10.1007\/11579427_106","DOI":"10.1007\/11579427_106"},{"key":"10596_CR87","doi-asserted-by":"publisher","unstructured":"Lee J, Kang KC (2006) A Feature-Oriented Approach to Developing Dynamically Reconfigurable Products in Product Line Engineering. In: Proceedings of the 10th international conference on software product lines (SPLC), pp 131\u2013140. https:\/\/doi.org\/10.1109\/SPLINE.2006.1691585","DOI":"10.1109\/SPLINE.2006.1691585"},{"key":"10596_CR88","unstructured":"Lee J, Huber MJ, Durfee EH, Kenny PG (1994) UM-PRS: An Implementation of the Procedural Reasoning System for Multirobot Applications. In: Proceedings of the conference on intelligent robotics in field, factory, service and space (CIRFFSS)"},{"key":"10596_CR89","doi-asserted-by":"publisher","unstructured":"Lee J, Kim J, Lee B, Wu C (2008a) Utilizing Semantic Web 2.0 for Self-Reconfiguration of SOA based Agent Applications in Intelligent Service Robots. In: Proceedings of the 8th international conference on computer and information technology (CIT), pp 784\u2013789. https:\/\/doi.org\/10.1109\/CIT.2008.4594774","DOI":"10.1109\/CIT.2008.4594774"},{"key":"10596_CR90","doi-asserted-by":"publisher","unstructured":"Lee J, Kim J, Lee C, Lee B (2008b) Agent Based Dynamic Adaptation of Intelligent Robots Using Enterprise Service Bus. In: Proceedings of the international conference on information science and security (ICISS), pp 94\u201397. https:\/\/doi.org\/10.1109\/ICISS.2008.31","DOI":"10.1109\/ICISS.2008.31"},{"key":"10596_CR91","doi-asserted-by":"publisher","unstructured":"de\u00a0Leng D, Heintz F (2016) DyKnow: A Dynamically Reconfigurable Stream Reasoning Framework as an Extension to the Robot Operating System. In: Proceedings of the international conference on simulation, modeling, and programming for autonomous robots (SIMPAR), pp 55\u201360. https:\/\/doi.org\/10.1109\/SIMPAR.2016.7862375","DOI":"10.1109\/SIMPAR.2016.7862375"},{"key":"10596_CR92","doi-asserted-by":"publisher","unstructured":"Lindstr\u00f6m M, Oreb\u00e4ck A, Christensen HI (2000) BERRA: A Research Architecture for Service Robots. In: Proceedings of the international conference on robotics and automation (ICRA), pp 3278\u20133283. https:\/\/doi.org\/10.1109\/ROBOT.2000.845168","DOI":"10.1109\/ROBOT.2000.845168"},{"issue":"8","key":"10596_CR93","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1177\/1687814016659597","volume":"8","author":"J Liu","year":"2016","unstructured":"Liu J, Zhang X, Hao G (2016) Survey on research and development of reconfigurable modular robots. Adv Mech Eng 8(8):1\u201321","journal-title":"Adv Mech Eng"},{"key":"10596_CR94","first-page":"441","volume-title":"Enterprise","author":"A Lotz","year":"2013","unstructured":"Lotz A, Ingl\u00e9s-Romero JF, Vicente-Chicote C, Schlegel C (2013) Managing run-time variability in robotics software by modeling functional and non-functional behavior. Enterprise. Springer, Business-Process and Information Systems Modeling, pp 441\u2013455"},{"key":"10596_CR95","unstructured":"Lotz A, Schlegel C, Lutz M, Stampfer D (2013b) The Smartsoft Project. http:\/\/smart-robotics.sourceforge.net\/"},{"key":"10596_CR96","unstructured":"Macdonald B, Hsieh B, Warren I (2004) Design for Dynamic Reconfiguration of Robot Software. In: Proceedings of the international conference on autonomous robots and agents"},{"issue":"66","key":"10596_CR97","doi-asserted-by":"publisher","first-page":"eabm607","DOI":"10.1126\/scirobotics.abm6074","volume":"7","author":"S Macenski","year":"2022","unstructured":"Macenski S, Foote T, Gerkey B, Lalancette C, Woodall W (2022) Robot operating system 2: Design, architecture, and uses in the wild. Sci Robot 7(66):eabm607. https:\/\/doi.org\/10.1126\/scirobotics.abm6074","journal-title":"Sci Robot"},{"key":"10596_CR98","doi-asserted-by":"publisher","unstructured":"Maeda T (2006) Reconfigurable system architecture for net-accessible pet-type robot system. In: Proceedings of the 15th international symposium on robot and human interactive communication (RO-MAN), pp 668\u2013673. https:\/\/doi.org\/10.1109\/ROMAN.2006.314477","DOI":"10.1109\/ROMAN.2006.314477"},{"key":"10596_CR99","doi-asserted-by":"publisher","first-page":"11096","DOI":"10.1016\/j.jss.2021.110969","volume":"178","author":"I Malavolta","year":"2021","unstructured":"Malavolta I, Lewis GA, Schmerl BR, Lago P, Garlan D (2021) Mining Guidelines for Architecting Robotics Software. J Syst Softw (JSS) 178:11096. https:\/\/doi.org\/10.1016\/j.jss.2021.110969","journal-title":"J Syst Softw (JSS)"},{"key":"10596_CR100","doi-asserted-by":"publisher","unstructured":"Marques F, Santana PF, Guedes M, Pinto E, Louren\u00e7o A, Barata J (2013) Online Self-Reconfigurable Robot Navigation in Heterogeneous Environments. In: Proceedings of the 22nd international symposium on industrial electronics (ISIE), pp 1\u20136. https:\/\/doi.org\/10.1109\/ISIE.2013.6563831","DOI":"10.1109\/ISIE.2013.6563831"},{"key":"10596_CR101","doi-asserted-by":"publisher","unstructured":"Mens K, Capilla R, Cardozo N, Dumas B (2016) A taxonomy of context-aware software variability approaches. In: Proceedings of the international conference on modularity, pp 119-124. https:\/\/doi.org\/10.1145\/2892664.2892684","DOI":"10.1145\/2892664.2892684"},{"key":"10596_CR102","unstructured":"Mens T, Buckley J, Zenger M, Rashid A (2003) Towards a Taxonomy of Software Evolution. In: Proceedings of the international workshop on unanticipated software evolution"},{"key":"10596_CR103","doi-asserted-by":"publisher","unstructured":"M\u00e9sz\u00e1ros T, Dobrowiecki TP (2017) Agent-based Reconfigurable Natural Language Interface to Robots - Human-Agent Interaction using Task-specific Controlled Natural Languages. In: Proceedings of the 9th international conference on agents and artificial intelligence (ICAART), pp 632\u2013639. https:\/\/doi.org\/10.5220\/0006205306320639","DOI":"10.5220\/0006205306320639"},{"issue":"1","key":"10596_CR104","doi-asserted-by":"publisher","first-page":"43","DOI":"10.5772\/5761","volume":"3","author":"G Metta","year":"2006","unstructured":"Metta G, Fitzpatrick P, Natale L (2006) Yarp: Yet another robot platform. Int J Adv Robot Syst 3(1):43\u201348","journal-title":"Int J Adv Robot Syst"},{"key":"10596_CR105","doi-asserted-by":"publisher","unstructured":"Morris A (2007) The Process Information Space: The Importance of Data Flow in Robotic Systems. In: Proceedings of the international conference on robotics and automation (ICRA), pp 293\u2013298. https:\/\/doi.org\/10.1109\/ROBOT.2007.363802","DOI":"10.1109\/ROBOT.2007.363802"},{"issue":"12","key":"10596_CR106","doi-asserted-by":"publisher","first-page":"1648","DOI":"10.1016\/j.robot.2012.09.002","volume":"60","author":"P Moubarak","year":"2012","unstructured":"Moubarak P, Ben-Tzvi P (2012) Modular and reconfigurable mobile robotics. Roboti Auton Syst 60(12):1648\u20131663","journal-title":"Roboti Auton Syst"},{"key":"10596_CR107","doi-asserted-by":"publisher","unstructured":"Murwantara IM (2020) An Initial Framework of Dynamic Software Product Line Engineering for Adaptive Service Robot. In: Proceedings of the international conference on computer science and its application in agriculture (ICOSICA), pp 1\u20136. https:\/\/doi.org\/10.1109\/ICOSICA49951.2020.9243199","DOI":"10.1109\/ICOSICA49951.2020.9243199"},{"key":"10596_CR108","doi-asserted-by":"crossref","unstructured":"Nilsson K, Bengel M (2008) Plug-and-Produce Technologies Real-time Aspects - Service Oriented Architectures for SME Robots and Plug-and-Produce. In: Proceedings of the international conference on informatics in control, automation and robotics, robotics and automation, pp 249\u2013254","DOI":"10.5220\/0001504702490254"},{"key":"10596_CR109","doi-asserted-by":"publisher","unstructured":"Nordmann A, Lange R, Rico FM (2021) System Modes - Digestible System (Re-)Configuration for Robotics. In: Proceedings of the 3rd international workshop on robotics software engineering (RoSE@ICSE), pp 19\u201324. https:\/\/doi.org\/10.1109\/RoSE52553.2021.00010","DOI":"10.1109\/RoSE52553.2021.00010"},{"key":"10596_CR110","unstructured":"OMG (2012) Common Object Request Broker Architecture (CORBA). https:\/\/www.omg.org\/spec\/CORBA\/About-CORBA\/"},{"key":"10596_CR111","unstructured":"OMG (2015) Data distribution service (dds). https:\/\/www.omg.org\/spec\/DDS\/About-DDS\/"},{"key":"10596_CR112","unstructured":"Open Robotics (2007) Robot Operating System. http:\/\/www.ros.org"},{"key":"10596_CR113","unstructured":"OWASP (2021) OWASP Cheat Sheet Series \u2013 Input Validation Cheat Sheet. https:\/\/cheatsheetseries.owasp.org\/cheatsheets\/Input_Validation_Cheat_Sheet.html"},{"key":"10596_CR114","doi-asserted-by":"publisher","unstructured":"Paikan A, Pattacini U, Domenichelli D, Randazzo M, Metta G, Natale L (2015) A Best-Effort Approach for Run-Time Channel Prioritization in Real-Time Robotic Application. In: Proceedings of the international conference on intelligent robots and systems (IROS), pp 1799\u20131805. https:\/\/doi.org\/10.1109\/IROS.2015.7353611","DOI":"10.1109\/IROS.2015.7353611"},{"issue":"4","key":"10596_CR115","doi-asserted-by":"publisher","first-page":"6481","DOI":"10.1109\/LRA.2021.3094498","volume":"6","author":"YP Pane","year":"2021","unstructured":"Pane YP, Mokhtari V, Aertbeli\u00ebn E, Schutter JD, Decr\u00e9 W (2021) Autonomous Runtime Composition of Sensor-Based Skills Using Concurrent Task Planning. IEEE Robot Autom Lett 6(4):6481\u20136488. https:\/\/doi.org\/10.1109\/LRA.2021.3094498","journal-title":"IEEE Robot Autom Lett"},{"issue":"7","key":"10596_CR116","doi-asserted-by":"publisher","first-page":"1289","DOI":"10.1109\/JPROC.2006.876933","volume":"94","author":"LE Parker","year":"2006","unstructured":"Parker LE, Tang F (2006) Building Multirobot Coalitions Through Automated Task Solution Synthesis. Proc IEEE 94(7):1289\u20131305. https:\/\/doi.org\/10.1109\/JPROC.2006.876933","journal-title":"Proc IEEE"},{"key":"10596_CR117","doi-asserted-by":"publisher","unstructured":"Peldszus S, Str\u00fcber D, J\u00fcrjens J (2018) Model-based security analysis of feature-oriented software product lines. In: Wyk EV, Rompf T (eds) Proceedings of the 17th ACM SIGPLAN international conference on generative programming: concepts and experiences, GPCE 2018, Boston, MA, USA, November 5-6, 2018, ACM, pp 93\u2013106. https:\/\/doi.org\/10.1145\/3278122.3278126","DOI":"10.1145\/3278122.3278126"},{"key":"10596_CR118","doi-asserted-by":"crossref","unstructured":"Peldszus S, Brugali D, Str\u00fcber D, Pellicone P, Berger T (2024a) Software Reconfiguration in Robotics \u2013 Replication Package. https:\/\/doi.org\/10.5281\/zenodo.14013818","DOI":"10.1007\/s10664-024-10596-9"},{"issue":"1","key":"10596_CR119","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1109\/TSE.2023.3326366","volume":"50","author":"S Peldszus","year":"2024","unstructured":"Peldszus S, B\u00fcrger J, J\u00fcrjens J (2024) Umlsecrt: Reactive security monitoring of java applications with round-trip engineering. IEEE Trans Softw Eng 50(1):16\u201347. https:\/\/doi.org\/10.1109\/TSE.2023.3326366","journal-title":"IEEE Trans Softw Eng"},{"key":"10596_CR120","doi-asserted-by":"crossref","unstructured":"Peldszus S, Knopp H, Sens Y, Berger T (2024c) Towards ML-Integration and Training Patterns for AI-Enabled Systems. In: AISOLA\u20192023 Post-Proceedings","DOI":"10.1007\/978-3-031-73741-1_26"},{"key":"10596_CR121","doi-asserted-by":"publisher","unstructured":"Pereira JA, Acher M, Martin H, J\u00e9z\u00e9quel JM, Botterweck G, Ventresque A (2021) Learning software configuration spaces: A systematic literature review. J Syst Softw 18. https:\/\/doi.org\/10.1016\/j.jss.2021.111044","DOI":"10.1016\/j.jss.2021.111044"},{"key":"10596_CR122","doi-asserted-by":"publisher","unstructured":"Pham TQ, Dixon KR, Khosla PK (2000) Software Systems Facilitating Self-Adaptive Control Software. In: Proceedings of the international conference on intelligent robots and systems (IROS), pp 1094\u20131100. https:\/\/doi.org\/10.1109\/IROS.2000.893165","DOI":"10.1109\/IROS.2000.893165"},{"key":"10596_CR123","unstructured":"Quigley M, Conley K, Gerkey B, Faust J, Foote T, Leibs J, Wheeler R, Ng AY (2009) ROS: An Open-Source Robot Operating System. In: Proceedings of the ICRA workshop on open source software"},{"key":"10596_CR124","unstructured":"Ralph P, et\u00a0al. (2023) SIGSOFT Empirical Standards. https:\/\/acmsigsoft.github.io\/EmpiricalStandards\/docs\/"},{"key":"10596_CR125","doi-asserted-by":"publisher","unstructured":"Ramachandran RK, Preiss JA, Sukhatme GS (2019) Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams. In: Proceedings of the international conference on intelligent robots and systems (IROS), pp 6518\u20136525. https:\/\/doi.org\/10.1109\/IROS40897.2019.8968611","DOI":"10.1109\/IROS40897.2019.8968611"},{"key":"10596_CR126","doi-asserted-by":"publisher","unstructured":"Ramirez AJ, Jensen AC, Cheng BHC (2012) A taxonomy of uncertainty for dynamically adaptive systems. In: 2012 7th International symposium on software engineering for adaptive and self-managing systems (SEAMS), pp 99\u2013108. https:\/\/doi.org\/10.1109\/SEAMS.2012.6224396","DOI":"10.1109\/SEAMS.2012.6224396"},{"key":"10596_CR127","unstructured":"RobMoSys (2023) RobMoSys Project Page. https:\/\/robmosys.eu\/"},{"key":"10596_CR128","doi-asserted-by":"publisher","unstructured":"Roh S, Park KH, Yang K, Park JH, Kim H, Lee H, Choi H (2004) Development of Dynamically Reconfigurable Personal Robot. In: Proceedings of the international conference on robotics and automation (ICRA), pp 4023\u20134028. https:\/\/doi.org\/10.1109\/ROBOT.2004.1308900","DOI":"10.1109\/ROBOT.2004.1308900"},{"key":"10596_CR129","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/MS.2023.3342974","volume":"01","author":"T Santilli","year":"2024","unstructured":"Santilli T, Pelliccione P, Wohlrab R, Shahrokni A (2024) Continuous compliance in the automotive industry. IEEE Softw 01:1\u201310. https:\/\/doi.org\/10.1109\/MS.2023.3342974","journal-title":"IEEE Softw"},{"key":"10596_CR130","unstructured":"Santos F, Almeida L, Pedreiras P, Lopes LS (2009) A Real-Time Distributed Software Infrastructure for Cooperating Mobile Autonomous Robots. In: Proceedings of the 14th international conference on advanced robotics (ICAR), pp 1\u20136"},{"key":"10596_CR131","doi-asserted-by":"publisher","unstructured":"Scala E, Micalizio R, Torasso P (2014) ReCon: An Online Task ReConfiguration Approach for Robust Plan Execution. In: Proceedings of the 6th international conference on agents and artificial intelligence (ICAART), pp 262\u2013279. https:\/\/doi.org\/10.1007\/978-3-319-25210-0_16","DOI":"10.1007\/978-3-319-25210-0_16"},{"key":"10596_CR132","doi-asserted-by":"publisher","unstructured":"Scheutz M, Kramer JF (2007) Reflection and Reasoning Mechanisms for Failure Detection and Recovery in a Distributed Robotic Architecture for Complex Robots. In: Proceedings of the international conference on robotics and automation (ICRA), pp 3699\u20133704. https:\/\/doi.org\/10.1109\/ROBOT.2007.364045","DOI":"10.1109\/ROBOT.2007.364045"},{"key":"10596_CR133","doi-asserted-by":"crossref","unstructured":"Schlegel C, Worz R (1999) The software framework smartsoft for implementing sensorimotor systems. In: Proceedings of the international conference on intelligent robots and systems (IROS), IEEE, vol 3, pp 1610\u20131616","DOI":"10.1109\/IROS.1999.811709"},{"key":"10596_CR134","first-page":"2780","volume-title":"Jahrestagung der Gesellschaft f\u00fcr Informatik","author":"C Schlegel","year":"2013","unstructured":"Schlegel C, Lutz M, Lotz A, Stampfer D, Ingl\u00e9s-Romero JF, Vicente-Chicote C (2013) Model-driven software systems engineering in robotics: Covering the complete life-cycle of a robot. Jahrestagung der Gesellschaft f\u00fcr Informatik. Informatik angepasst an Mensch, Organisation und Umwelt (INFORMATIK), pp 2780\u20132794"},{"key":"10596_CR135","doi-asserted-by":"publisher","unstructured":"Schlegel C, Lotz A, Lutz M, Stampfer D (2021) Composition, Separation of Roles and Model-Driven Approaches as Enabler of a Robotics Software Ecosystem, Springer International Publishing, Cham, pp 53\u2013108. https:\/\/doi.org\/10.1007\/978-3-030-66494-7_3","DOI":"10.1007\/978-3-030-66494-7_3"},{"issue":"6","key":"10596_CR136","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1109\/2.846319","volume":"33","author":"DC Schmidt","year":"2000","unstructured":"Schmidt DC, Kuhns F (2000) An overview of the real-time CORBA specification. Computer 33(6):56\u20136. https:\/\/doi.org\/10.1109\/2.846319","journal-title":"Computer"},{"key":"10596_CR137","doi-asserted-by":"publisher","unstructured":"Schneider S, Chen V, Pardo-Castellote G (1995) The ControlShell Component-based Real-Time Programming System. In: Proceedings of the IEEE international conference on robotics and automation, pp 2381\u20132388. https:\/\/doi.org\/10.1109\/ROBOT.1995.525616","DOI":"10.1109\/ROBOT.1995.525616"},{"key":"10596_CR138","doi-asserted-by":"publisher","unstructured":"Shaukat A, Burroughes G, Gao Y (2016) Springer, chap Self-Reconfiguring Robotic Framework Using Fuzzy and Ontological Decision Making. Intell Syst Appl. https:\/\/doi.org\/10.1007\/978-3-319-33386-1_7","DOI":"10.1007\/978-3-319-33386-1_7"},{"key":"10596_CR139","doi-asserted-by":"crossref","unstructured":"Shlyakhov N, Vatamaniuk I, Ronzhin A (2017) Survey of Methods and Algorithms of Robot Swarm Aggregation. J Phys Conf Ser 803(1)","DOI":"10.1088\/1742-6596\/803\/1\/012146"},{"key":"10596_CR140","doi-asserted-by":"publisher","unstructured":"Soria CC, P\u00e9rez J, Cars\u00ed JA (2009) Handling the dynamic reconfiguration of software architectures using aspects. In: European conference on software maintenance and reengineering (CSMR), pp 263\u2013266. https:\/\/doi.org\/10.1109\/CSMR.2009.33","DOI":"10.1109\/CSMR.2009.33"},{"key":"10596_CR141","unstructured":"SPARC (2016) Robotics 2020 Multi-Annual Roadmap. https:\/\/eu-robotics.net\/sparc\/upload\/about\/files\/H2020-Robotics-Multi-Annual-Roadmap-ICT-2016.pdf"},{"key":"10596_CR142","doi-asserted-by":"publisher","unstructured":"Stewart D, Schmitz D, Khosla P (1990) Implementing real-time robotic systems using chimera ii. In: International Conference on Robotics and Automation, vol 1 pp 598\u2013603. https:\/\/doi.org\/10.1109\/ROBOT.1990.126047","DOI":"10.1109\/ROBOT.1990.126047"},{"issue":"2","key":"10596_CR143","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1142\/S0218194096000120","volume":"6","author":"DB Stewart","year":"1996","unstructured":"Stewart DB, Khosla PK (1996) The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software Using Port-Based Objects. Int J Softw Eng Knowl Eng 6(2):249\u2013277. https:\/\/doi.org\/10.1142\/S0218194096000120","journal-title":"Int J Softw Eng Knowl Eng"},{"issue":"12","key":"10596_CR144","doi-asserted-by":"publisher","first-page":"759","DOI":"10.1109\/32.637390","volume":"23","author":"DB Stewart","year":"1997","unstructured":"Stewart DB, Volpe R, Khosla PK (1997) Design of Dynamically Reconfigurable Real-Time Software Using Port-Based Objects. Trans Softw Eng (TSE) 23(12):759\u2013776. https:\/\/doi.org\/10.1109\/32.637390","journal-title":"Trans Softw Eng (TSE)"},{"key":"10596_CR145","doi-asserted-by":"crossref","unstructured":"Stueben M, Hoffmann A, Reif W (2021) Constraint-based Whole-Body-Control of Mobile Manipulators in Human-Centered Environments. In: Proceedings of the international conference on emerging technologies and factory automation (ETFA), pp 1\u20138","DOI":"10.1109\/ETFA45728.2021.9613281"},{"issue":"8","key":"10596_CR146","doi-asserted-by":"publisher","first-page":"705","DOI":"10.1002\/spe.652","volume":"35","author":"M Svahnberg","year":"2005","unstructured":"Svahnberg M, van Gurp J, Bosch J (2005) A taxonomy of variability realization techniques. Softw, Pract Exper 35(8):705\u2013754","journal-title":"Softw, Pract Exper"},{"key":"10596_CR147","doi-asserted-by":"publisher","unstructured":"Szlenk M, Zielinski C, Figat M, Kornuta T (2015) Reconfigurable Agent Architecture for Robots Utilising Cloud Computing. In: Progress in automation, robotics and measuring techniques - Volume 2, Springer, pp 253\u2013264. https:\/\/doi.org\/10.1007\/978-3-319-15847-1_25","DOI":"10.1007\/978-3-319-15847-1_25"},{"key":"10596_CR148","doi-asserted-by":"publisher","unstructured":"Tajalli H, Garcia J, Edwards G, Medvidovic N (2010) PLASMA: A Plan-based Layered Architecture for Software Model-driven Adaptation. In: Proceedings of the international conference on automated software engineering (ASE), pp 467\u2013476. https:\/\/doi.org\/10.1145\/1858996.1859092","DOI":"10.1145\/1858996.1859092"},{"key":"10596_CR149","doi-asserted-by":"publisher","first-page":"13969","DOI":"10.1109\/ACCESS.2020.2965327","volume":"8","author":"N Tan","year":"2020","unstructured":"Tan N, Hayat AA, Elara MR, Wood KL (2020) A Framework for Taxonomy and Evaluation of Self-Reconfigurable Robotic Systems. IEEE Access 8:13969\u20131398. https:\/\/doi.org\/10.1109\/ACCESS.2020.2965327","journal-title":"IEEE Access"},{"key":"10596_CR150","unstructured":"The Autoware Foundation (2023) Github reposiroty of autoware.auto. https:\/\/github.com\/autowarefoundation\/autoware"},{"key":"10596_CR151","doi-asserted-by":"publisher","unstructured":"Volpe R, Nesnas I, Estlin T, Mutz D, Petras R, Das H (2001) The claraty architecture for robotic autonomy. In: Proceedings of the aerospace conference, vol\u00a01, pp 1\/121\u20131\/132 . https:\/\/doi.org\/10.1109\/AERO.2001.931701","DOI":"10.1109\/AERO.2001.931701"},{"key":"10596_CR152","doi-asserted-by":"publisher","unstructured":"Vos D, Motazed B (1998) Fault Tolerant Control Design for Parameter Dependent Systems. In: Proceedings of the american control conference (ACC), vol\u00a02, pp 679\u2013680. https:\/\/doi.org\/10.1109\/ACC.1998.703491","DOI":"10.1109\/ACC.1998.703491"},{"key":"10596_CR153","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-23669-3","volume-title":"Domain-Specific Languages: Effective Modeling, Automation, and Reuse","author":"A Wasowski","year":"2023","unstructured":"Wasowski A, Berger T (2023) Domain-Specific Languages: Effective Modeling, Automation, and Reuse. Springer"},{"issue":"3","key":"10596_CR154","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1109\/37.924797","volume":"21","author":"L Wills","year":"2001","unstructured":"Wills L, Kannan S, Sander S, Guler M, Heck B, Prasad J, Schrage D, Vachtsevanos G (2001) An Open Platform for Reconfigurable Control. IEEE Control Syst Mag 21(3):49\u201364. https:\/\/doi.org\/10.1109\/37.924797","journal-title":"IEEE Control Syst Mag"},{"key":"10596_CR155","doi-asserted-by":"publisher","unstructured":"Xiao L (2012) From Adaptive Software Bahaviour to Adaptive Robotic Bahaviour. In: Proceedings of the international conference on systems and informatics (ICSAI), pp 2448\u20132452. https:\/\/doi.org\/10.1109\/ICSAI.2012.6223549","DOI":"10.1109\/ICSAI.2012.6223549"},{"key":"10596_CR156","doi-asserted-by":"publisher","unstructured":"Yang A, Yang B, Hui B, Zheng B, Yu B, Zhou C, Li C, Li C, Liu D, Huang F, Dong G, Wei H, Lin H, Tang J, Wang J, Yang J, Tu J, Zhang J, Ma J, Yang J, Xu J, Zhou J, Bai J, He J, Lin J, Dang K, Lu K, Chen K, Yang K, Li M, Xue M, Ni N, Zhang P, Wang P, Peng R, Men R, Gao R, Lin R, Wang S, Bai S, Tan S, Zhu T, Li T, Liu T, Ge W, Deng X, Zhou X, Ren X, Zhang X, Wei X, Ren X, Liu X, Fan Y, Yao Y, Zhang Y, Wan Y, Chu Y, Liu Y, Cui Z, Zhang Z, Guo Z, Fan Z (2024) Qwen2 Technical Report. https:\/\/doi.org\/10.48550\/ARXIV.2407.10671arXiv:2407.10671","DOI":"10.48550\/ARXIV.2407.10671"},{"issue":"1","key":"10596_CR157","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/MRA.2007.339623","volume":"14","author":"M Yim","year":"2007","unstructured":"Yim M, Shen W, Salemi B, Rus D, Moll M, Lipson H, Klavins E, Chirikjian GS (2007) Modular self-reconfigurable robot systems [grand challenges of robotics]. IEEE Robot Autom Mag 14(1):43\u201352. https:\/\/doi.org\/10.1109\/MRA.2007.339623","journal-title":"IEEE Robot Autom Mag"},{"key":"10596_CR158","doi-asserted-by":"publisher","unstructured":"Yin Z, Ma X, Zheng J, Zhou Y, Bairavasundaram LN, Pasupathy S (2011) An Empirical Study on Configuration Errors in Commercial and Open Source Systems. In: Proceedings of the symposium on operating systems principles (SOSP), pp 159\u2013172. https:\/\/doi.org\/10.1145\/2043556.2043572","DOI":"10.1145\/2043556.2043572"},{"key":"10596_CR159","doi-asserted-by":"publisher","unstructured":"Yoo J, Kim S, Hong S (2006) The Robot Software Communications Architecture (RSCA): QoS-Aware Middleware for Networked Service Robots. In: Proceedings of the SICE-ICASE international joint conference, pp 330\u2013335. https:\/\/doi.org\/10.1109\/SICE.2006.315702","DOI":"10.1109\/SICE.2006.315702"},{"key":"10596_CR160","doi-asserted-by":"publisher","unstructured":"Yu Z, Warren I, MacDonald BA (2006) Dynamic Reconfiguration for Robot Software. In: Proceedings of the international conference on automation science and engineering, pp 292\u2013297. https:\/\/doi.org\/10.1109\/COASE.2006.326896","DOI":"10.1109\/COASE.2006.326896"},{"key":"10596_CR161","doi-asserted-by":"publisher","unstructured":"Zhang Y, Roufas K, Yim M (2001) Software Architecture for Modular Self-reconfigurable Robots. In: Proceedings of the international conference on intelligent robots and systems (IROS), pp 2355\u20132360. https:\/\/doi.org\/10.1109\/IROS.2001.976422","DOI":"10.1109\/IROS.2001.976422"}],"container-title":["Empirical Software Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10664-024-10596-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10664-024-10596-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10664-024-10596-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,5]],"date-time":"2025-06-05T09:59:35Z","timestamp":1749117575000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10664-024-10596-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4,8]]},"references-count":161,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,7]]}},"alternative-id":["10596"],"URL":"https:\/\/doi.org\/10.1007\/s10664-024-10596-9","relation":{},"ISSN":["1382-3256","1573-7616"],"issn-type":[{"value":"1382-3256","type":"print"},{"value":"1573-7616","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,4,8]]},"assertion":[{"value":"19 November 2024","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 April 2025","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"94"}}