{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T16:49:22Z","timestamp":1780332562528,"version":"3.54.1"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T00:00:00Z","timestamp":1766016000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T00:00:00Z","timestamp":1766016000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/100010676","name":"H2020 Societal Challenges","doi-asserted-by":"publisher","award":["820971"],"award-info":[{"award-number":["820971"]}],"id":[{"id":"10.13039\/100010676","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100018699","name":"HORIZON EUROPE Digital, Industry and Space","doi-asserted-by":"publisher","award":["101070254"],"award-info":[{"award-number":["101070254"]}],"id":[{"id":"10.13039\/100018699","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Dependability is a critical requirement for the effective deployment of robots in dynamic, unknown, and unstructured environments, such as the autonomous mining robots studied in the ROBOMINERS project. To address this challenge, we propose an application-agnostic framework that enables self-adaptation to unforeseen circumstances. This article explores the use of formalized models as a powerful tool for developers to enhance the autonomy and resilience of robotic systems. The core idea is to leverage these models at run-time to dynamically select the most suitable reconfiguration strategy in response to unexpected events. A key aspect of this approach is to ensure that the system continues to provide the expected service or benefit to users, even in the face of unpredictable events. Rather than relying on predefined or ad-hoc solutions, our adaptation strategies are computed during operation, using explicit engineering knowledge established during the design phase. This methodology relies on a meta-model that integrates principles from Category Theory\u2014an abstract mathematical framework for expressing complex relationships\u2014and Model-Based Systems Engineering. The meta-model is implemented using web ontologies, providing the flexibility to support diverse applications. During operation, the meta-model is used by a meta-controller, a high-level decision-making mechanism designed to achieve mission objectives, similar to how classical controllers regulate set-point references. To illustrate the effectiveness of this approach, we present three use cases involving mining robots. These scenarios address challenges such as sensor failures, insufficient capabilities (e.g. inadequate force application), and communication loss, showing the versatility and robustness of the proposed solution.<\/jats:p>","DOI":"10.1007\/s10846-025-02331-3","type":"journal-article","created":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T07:52:34Z","timestamp":1766044354000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Operational Model for System Dependability: The ROBOMINERS Use-Case"],"prefix":"10.1007","volume":"112","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7860-9030","authenticated-orcid":false,"given":"Esther","family":"Aguado","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Virgilio","family":"Gomez\u00a0Lambo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Miguel","family":"Hernando","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Claudio","family":"Rossi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ricardo","family":"Sanz","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,12,18]]},"reference":[{"key":"2331_CR1","doi-asserted-by":"publisher","unstructured":"IEEE Sa: IEEE Standard Ontologies for Robotics and Automation. IEEE Std 1872-2015, 1\u201360 (2015). https:\/\/doi.org\/10.1109\/IEEESTD.2015.7084073","DOI":"10.1109\/IEEESTD.2015.7084073"},{"key":"2331_CR2","doi-asserted-by":"publisher","unstructured":"IEEE Std 1872.2-2021: IEEE Standard for Autonomous Robotics (AuR) Ontology. IEEE Std 1872.2-2021, 1\u201349 (2022). https:\/\/doi.org\/10.1109\/IEEESTD.2022.9774339","DOI":"10.1109\/IEEESTD.2022.9774339"},{"key":"2331_CR3","doi-asserted-by":"publisher","unstructured":"Cheng, B.H.C., Lemos, R., Giese, H., Inverardi, P., Magee, J., Andersson, J., Becker, B., Bencomo, N., Brun, Y., Cukic, B., Di\u00a0Marzo\u00a0Serugendo, G., Dustdar, S., Finkelstein, A., Gacek, C., Geihs, K., Grassi, V., Karsai, G., Kienle, H.M., Kramer, J., Litoiu, M., Malek, S., Mirandola, R., M\u00fcller, H.A., Park, S., Shaw, M., Tichy, M., Tivoli, M., Weyns, D., Whittle, J.: Software engineering for self-adaptive systems: A research roadmap. In: Software Engineering for Self-Adaptive Systems, pp. 1\u201326. Springer, Berlin, Heidelberg (2009). https:\/\/doi.org\/10.1007\/978-3-642-02161-9_1","DOI":"10.1007\/978-3-642-02161-9_1"},{"key":"2331_CR4","doi-asserted-by":"crossref","unstructured":"Garlan, D., Cheng, S.-W., Schmerl, B.: Increasing System Dependability through Architecture-Based Self-Repair, pp. 61\u201389. Springer, Berlin, Heidelberg (2003)","DOI":"10.1007\/3-540-45177-3_3"},{"key":"2331_CR5","doi-asserted-by":"publisher","unstructured":"Olivares-Alarcos, A., Be\u00dfler, D., Khamis, A., Goncalves, P., Habib, M.K., Bermejo-Alonso, J., Barreto, M., Diab, M., Rosell, J., Quintas, J., Olszewska, J., Nakawala, H., Pignaton, E., Gyrard, A., Borgo, S., Aleny\u00e0, G., Beetz, M., Li, H.: A review and comparison of ontology-based approaches to robot autonomy. Knowl. Eng. Rev. (2019). https:\/\/doi.org\/10.1017\/S0269888919000237. cited By 32","DOI":"10.1017\/S0269888919000237"},{"key":"2331_CR6","doi-asserted-by":"publisher","unstructured":"Tenorth, M., Beetz, M.: Knowrob \u2014 knowledge processing for autonomous personal robots. In: 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4261\u20134266 (2009). https:\/\/doi.org\/10.1109\/IROS.2009.5354602","DOI":"10.1109\/IROS.2009.5354602"},{"key":"2331_CR7","doi-asserted-by":"publisher","unstructured":"Beetz, M., Be\u00dfler, D., Haidu, A., Pomarlan, M., Bozcuo\u011flu, A.K., Bartels, G.: Know Rob 2.0 \u2014 A 2nd generation knowledge processing framework for cognition-enabled robotic agents. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 512\u2013519 (2018). https:\/\/doi.org\/10.1109\/ICRA.2018.8460964","DOI":"10.1109\/ICRA.2018.8460964"},{"key":"2331_CR8","doi-asserted-by":"publisher","unstructured":"Rovida, F., Crosby, M., Holz, D., Polydoros, A.S., Gro\u00dfmann, B., Petrick, R.P.A., Kr\u00fcger, V.: In: Koubaa, A. (ed.) SkiROS\u2014A Skill-Based Robot Control Platform on Top of ROS, pp. 121\u2013160. Springer, Cham (2017). https:\/\/doi.org\/10.1007\/978-3-319-54927-9_4","DOI":"10.1007\/978-3-319-54927-9_4"},{"key":"2331_CR9","volume-title":"Artificial Intelligence: A Modern Approach","author":"SJ Russell","year":"2021","unstructured":"Russell, S.J., Norvig, P.: Artificial Intelligence: A Modern Approach, 4th edn. Pearson, Upper Saddle River, NJ (2021)","edition":"4"},{"key":"2331_CR10","volume-title":"Category Theory for the Sciences","author":"DI Spivak","year":"2014","unstructured":"Spivak, D.I.: Category Theory for the Sciences. The MIT Press, Cambridge, MA (2014)"},{"issue":"1","key":"2331_CR11","doi-asserted-by":"publisher","first-page":"e24274","DOI":"10.1371\/journal.pone.0024274","volume":"7","author":"DI Spivak","year":"2012","unstructured":"Spivak, D.I.: Ologs: A categorical framework for knowledge representation. PLoS ONE 7(1), e24274 (2012). https:\/\/doi.org\/10.1371\/journal.pone.0024274","journal-title":"PLoS ONE"},{"key":"2331_CR12","doi-asserted-by":"publisher","unstructured":"Spivak, D.I., Wisnesky, R.: Relational foundations for functorial data migration. In: Proceedings of the 15th Symposium on Database Programming Languages. DBPL 2015, pp. 21\u201328. Association for Computing Machinery, New York, NY, USA (2015). https:\/\/doi.org\/10.1145\/2815072.2815075","DOI":"10.1145\/2815072.2815075"},{"key":"2331_CR13","doi-asserted-by":"publisher","unstructured":"Patterson, E.: Knowledge representation in bicategories of relations. (2017). https:\/\/doi.org\/10.48550\/arXiv.1706.00526","DOI":"10.48550\/arXiv.1706.00526"},{"key":"2331_CR14","doi-asserted-by":"publisher","unstructured":"Aguinaldo, A., Patterson, E., Fairbanks, J., Ruiz, J.: A categorical representation language and computational system for knowledge-based planning. (2023). arXiv:2305.17208. https:\/\/doi.org\/10.48550\/arXiv.2305.17208","DOI":"10.48550\/arXiv.2305.17208"},{"key":"2331_CR15","doi-asserted-by":"publisher","unstructured":"Censi, A.: A mathematical theory of co-design (2015). https:\/\/doi.org\/10.48550\/arXiv.1512.08055","DOI":"10.48550\/arXiv.1512.08055"},{"key":"2331_CR16","volume-title":"Seven Sketches in Compositionality: An Invitation to Applied Category Theory","author":"B Fong","year":"2019","unstructured":"Fong, B., Spivak, D.I.: Seven Sketches in Compositionality: An Invitation to Applied Category Theory. Cambridge University Press, Cambridge (2019)"},{"key":"2331_CR17","doi-asserted-by":"publisher","unstructured":"Zardini, G., Milojevic, D., Censi, A., Frazzoli, E.: Co-design of embodied intelligence: A structured approach. In: 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 7536\u20137543 (2021). https:\/\/doi.org\/10.1109\/IROS51168.2021.9636513","DOI":"10.1109\/IROS51168.2021.9636513"},{"key":"2331_CR18","doi-asserted-by":"publisher","unstructured":"Bakirtzis, G., Fleming, C.H., Vasilakopoulou, C.: Categorical semantics of cyber-physical systems theory. ACM Trans. Cyber-Phys. Syst. 5(3) (2021). https:\/\/doi.org\/10.1145\/3461669","DOI":"10.1145\/3461669"},{"key":"2331_CR19","doi-asserted-by":"publisher","unstructured":"Lloyd, K.A.: Category theoretic foundations for systems science and engineering. In: Metcalf, G.S., Kijima, K., Deguchi, H. (eds.) Handbook of Systems Sciences, pp. 1227\u20131249. Springer, Singapore (2021). https:\/\/doi.org\/10.1007\/978-981-15-0720-5_65","DOI":"10.1007\/978-981-15-0720-5_65"},{"key":"2331_CR20","doi-asserted-by":"publisher","first-page":"392","DOI":"10.1007\/11814771_34","volume-title":"Automated Reasoning","author":"D Kozen","year":"2006","unstructured":"Kozen, D., Kreitz, C., Richter, E.: Automating proofs in category theory. In: Furbach, U., Shankar, N. (eds.) Automated Reasoning, pp. 392\u2013407. Springer, Berlin, Heidelberg (2006)"},{"issue":"2","key":"2331_CR21","doi-asserted-by":"publisher","first-page":"301","DOI":"10.1016\/j.jss.2010.10.025","volume":"84","author":"B Henderson-Sellers","year":"2011","unstructured":"Henderson-Sellers, B.: Bridging metamodels and ontologies in software engineering. J. Syst. Softw. 84(2), 301\u2013313 (2011). https:\/\/doi.org\/10.1016\/j.jss.2010.10.025","journal-title":"J. Syst. Softw."},{"key":"2331_CR22","unstructured":"Walden, D.D., International Council on Systems Engineering (eds.): INCOSE Systems Engineering Handbook Version 5.0. Wiley, San Diego, CA (2023)"},{"key":"2331_CR23","doi-asserted-by":"publisher","unstructured":"ISO\/IEC\/IEEE 15288:2023: ISO\/IEC\/IEEE International Standard - Systems and software engineering \u2013 System life cycle processes. ISO\/IEC\/IEEE 15288:2023(E), 1\u2013128 (2023). https:\/\/doi.org\/10.1109\/IEEESTD.2023.10123367","DOI":"10.1109\/IEEESTD.2023.10123367"},{"key":"2331_CR24","unstructured":"SEBoK Editorial Board: The Guide to the Systems Engineering Body of Knowledge (SEBoK), v. 2.8. (2023). https:\/\/sebokwiki.org\/wiki\/Guide_to_the_Systems_Engineering_Body_of_Knowledge_(SEBoK), Hoboken, NJ, USA. Accessed 18 Aug 2023"},{"key":"2331_CR25","doi-asserted-by":"publisher","unstructured":"IEEE Std 829\u20132008: IEEE Standard for Software and System Test Documentation. IEEE Std 829-2008, 1\u2013150 (2008). https:\/\/doi.org\/10.1109\/IEEESTD.2008.4578383","DOI":"10.1109\/IEEESTD.2008.4578383"},{"key":"2331_CR26","doi-asserted-by":"publisher","unstructured":"ISO\/IEC\/IEEE 42020:2019: ISO\/IEC\/IEEE International Standard - Software, systems and enterprise \u2013 Architecture processes. ISO\/IEC\/IEEE 42020:2019(E), 1\u2013126 (2019). https:\/\/doi.org\/10.1109\/IEEESTD.2019.8767004","DOI":"10.1109\/IEEESTD.2019.8767004"},{"key":"2331_CR27","doi-asserted-by":"publisher","unstructured":"IEEE Std 1220-2005: IEEE Standard for Application and Management of the Systems Engineering Process. IEEE Std 1220-2005 (Revision of IEEE Std 1220-1998), 1\u201396 (2005). https:\/\/doi.org\/10.1109\/IEEESTD.2005.96469","DOI":"10.1109\/IEEESTD.2005.96469"},{"key":"2331_CR28","doi-asserted-by":"crossref","unstructured":"Roedler, G.J., Jones, C.: Technical Measurement. A Collaborative Project of PSM, INCOSE, and Industry. Technical report, Practical Software & Systems Management (PSM)\/International Council on Systems Engineering (INCOSE), INCOSE-TP-2003-020-01 (2005)","DOI":"10.21236\/ADA605916"},{"key":"2331_CR29","unstructured":"Lloyd, K.A.: A category-theoretic approach to agent-based modeling and simulation. Technical report, Watt Systems Technologies Inc. (2010)"},{"key":"2331_CR30","unstructured":"Aguado, E., Sanz, R., Rossi, C.: Ontologies for run-time self-adaptation of mobile robotic systems. In: XIX Conference of the Spanish Association for Artificial Intelligence (2021)"},{"key":"2331_CR31","unstructured":"Horrocks, I., Patel-Schneider, P.F., Boley, H., Tabet, S., Grosofand, B., Dean, M.: SWRL: A Semantic Web Rule Language Combining OWL and RuleML. (2004). http:\/\/www.w3.org\/Submission\/SWRL\/. Accessed 18 Sept 2023"},{"key":"2331_CR32","doi-asserted-by":"publisher","unstructured":"Gomez, V., Hernando, M., Aguado, E., Sanz, R., Rossi, C.: Robominer: Development of a highly configurable and modular scaled-down prototype of a mining robot. Machines. 11(8) (2023). https:\/\/doi.org\/10.3390\/machines11080809","DOI":"10.3390\/machines11080809"},{"key":"2331_CR33","doi-asserted-by":"publisher","unstructured":"Macenski, S., Mart\u00edn, F., White, R., Clavero, J.G.: The marathon 2: A navigation system. In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2718\u20132725 (2020). https:\/\/doi.org\/10.1109\/IROS45743.2020.9341207","DOI":"10.1109\/IROS45743.2020.9341207"},{"issue":"6","key":"2331_CR34","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1109\/MIS.2002.1134363","volume":"17","author":"RJ Brachman","year":"2002","unstructured":"Brachman, R.J.: Systems that know what they\u2019re doing. IEEE Intell. Syst. 17(6), 67\u201371 (2002). https:\/\/doi.org\/10.1109\/MIS.2002.1134363","journal-title":"IEEE Intell. Syst."},{"key":"2331_CR35","unstructured":"Bertalanffy, L.v.: General System Theory: Foundations, Development, Applications. George G. Braziller, New York (1968)"},{"issue":"4","key":"2331_CR36","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s21041210","volume":"21","author":"E Aguado","year":"2021","unstructured":"Aguado, E., Milosevic, Z., Hern\u00e1ndez, C., Sanz, R., Garzon, M., Bozhinoski, D., Rossi, C.: Functional self-awareness and metacontrol for underwater robot autonomy. Sensors. 21(4), 1\u201328 (2021). https:\/\/doi.org\/10.3390\/s21041210","journal-title":"Sensors."},{"key":"2331_CR37","doi-asserted-by":"publisher","unstructured":"Bozhinoski, D., Aguado, E., Oviedo, M.G., Hernandez, C., Sanz, R., Wasowski, A.: A Modeling tool for reconfigurable skills in ROS. In: 2021 IEEE\/ACM 3rd International Workshop on Robotics Software Engineering (RoSE), pp. 25\u201328 (2021). https:\/\/doi.org\/10.1109\/RoSE52553.2021.00011","DOI":"10.1109\/RoSE52553.2021.00011"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02331-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-025-02331-3","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02331-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T07:39:49Z","timestamp":1774856389000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-025-02331-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,18]]},"references-count":37,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2026,3]]}},"alternative-id":["2331"],"URL":"https:\/\/doi.org\/10.1007\/s10846-025-02331-3","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12,18]]},"assertion":[{"value":"6 November 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 October 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 December 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"No ethical issues have been identified when conducting this study.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}},{"value":"Not applicable because no human subjects are involved in the study.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable because no human subjects are involved in the study.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to publish"}}],"article-number":"1"}}