{"id":"https://openalex.org/W2125133214","doi":"https://doi.org/10.1109/seams.2009.5069083","title":"Architecture-driven self-adaptation and self-management in robotics systems","display_name":"Architecture-driven self-adaptation and self-management in robotics systems","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2125133214","doi":"https://doi.org/10.1109/seams.2009.5069083","mag":"2125133214"},"language":"en","primary_location":{"id":"doi:10.1109/seams.2009.5069083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/seams.2009.5069083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 ICSE Workshop on Software Engineering for Adaptive and Self-Managing Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079438806","display_name":"George Edwards","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Edwards","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA","Computer Science Department, University of Southern California, Los Angeles, 90089, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051205341","display_name":"Joshua Garcia","orcid":"https://orcid.org/0000-0002-1696-8783"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua Garcia","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA","Computer Science Department, University of Southern California, Los Angeles, 90089, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086376435","display_name":"Hossein Tajalli","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hossein Tajalli","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA","Computer Science Department, University of Southern California, Los Angeles, 90089, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111565931","display_name":"Daniel Popescu","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Popescu","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA","Computer Science Department, University of Southern California, Los Angeles, 90089, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006714421","display_name":"Nenad Medvidovi\u0107","orcid":"https://orcid.org/0000-0002-1906-4878"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nenad Medvidovic","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA","Computer Science Department, University of Southern California, Los Angeles, 90089, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077367921","display_name":"Gaurav S. Sukhatme","orcid":"https://orcid.org/0000-0003-2408-474X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gaurav Sukhatme","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, USA","Computer Science Department, University of Southern California, Los Angeles, 90089, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091036326","display_name":"Brad Petrus","orcid":null},"institutions":[{"id":"https://openalex.org/I4210120115","display_name":"Robert Bosch (United States)","ror":"https://ror.org/02venad53","country_code":"US","type":"company","lineage":["https://openalex.org/I4210120115","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brad Petrus","raw_affiliation_strings":["Bosch Research and Technology Center, Pittsburgh, PA, USA","Bosch Research & Tech. Center, Two NorthShore Center, Suite 320, Pittsburgh, PA 15212, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bosch Research and Technology Center, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210120115"]},{"raw_affiliation_string":"Bosch Research & Tech. Center, Two NorthShore Center, Suite 320, Pittsburgh, PA 15212, U.S.A","institution_ids":["https://openalex.org/I4210120115"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"142","last_page":"151"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12127","display_name":"Software System Performance and Reliability","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.7859054803848267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7280226349830627},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6997377276420593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5947006940841675},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5682697892189026},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5294613242149353},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.48818904161453247},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.48480144143104553},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4842831492424011},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4626190960407257},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.40832147002220154},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3744182586669922},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09867441654205322}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.7859054803848267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7280226349830627},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6997377276420593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5947006940841675},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5682697892189026},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5294613242149353},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.48818904161453247},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.48480144143104553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4842831492424011},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4626190960407257},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.40832147002220154},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3744182586669922},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09867441654205322},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/seams.2009.5069083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/seams.2009.5069083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 ICSE Workshop on Software Engineering for Adaptive and Self-Managing Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.183.8966","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.183.8966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-scf.usc.edu/%7Egedwards/pubs/seams_2009.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.477.99","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.477.99","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://softarch.usc.edu/~josh/pubs/seams_2009.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W15890147","https://openalex.org/W1819146036","https://openalex.org/W1844285393","https://openalex.org/W2003373522","https://openalex.org/W2018538061","https://openalex.org/W2044360368","https://openalex.org/W2057326075","https://openalex.org/W2107754272","https://openalex.org/W2132695268","https://openalex.org/W2151306184","https://openalex.org/W2158149707","https://openalex.org/W2159731334","https://openalex.org/W6600660816","https://openalex.org/W6638671243","https://openalex.org/W6638945795","https://openalex.org/W6683211743"],"related_works":["https://openalex.org/W2032233321","https://openalex.org/W3121970507","https://openalex.org/W2110028391","https://openalex.org/W54497855","https://openalex.org/W217960748","https://openalex.org/W3125814499","https://openalex.org/W2090827041","https://openalex.org/W2094012830","https://openalex.org/W2167645963","https://openalex.org/W129772185"],"abstract_inverted_index":{"We":[0,118],"describe":[1],"an":[2],"architecture-centric":[3],"design":[4],"and":[5,11,29,66,68,79,107,135],"implementation":[6],"approach":[7,19,35,91,121],"for":[8,55,113],"building":[9],"self-adapting":[10],"self-managing":[12],"robotics":[13,62],"systems.":[14],"The":[15],"basis":[16],"of":[17,23,31,44,60,97,102,110,125,140],"our":[18,90,120],"is":[20],"the":[21,41,56,100,108],"concept":[22],"meta-level":[24,45,53,72,85],"components,":[25],"which":[26],"facilitate":[27],"adaptation":[28,105,115],"management":[30],"application-level":[32],"components.":[33,86],"Our":[34],"applies":[36],"two":[37],"key":[38],"enhancements":[39],"to":[40,74],"traditional":[42],"usage":[43],"components:":[46],"(1)":[47],"we":[48,70],"utilize":[49],"three":[50,57],"distinct,":[51],"specialized":[52],"components":[54,73],"fundamental":[58],"activities":[59],"a":[61,123,132,137],"system:":[63],"sensing,":[64],"computation,":[65],"control,":[67],"(2)":[69],"allow":[71],"themselves":[75],"be":[76],"monitored,":[77],"managed":[78],"adapted":[80],"by":[81],"other":[82],"(higher":[83],"layer)":[84],"In":[87],"this":[88],"way,":[89],"flexibly":[92],"supports":[93],"adaptive":[94],"layered":[95],"architectures":[96],"arbitrary":[98,103],"depth,":[99],"specification":[101],"system":[104],"policies,":[106],"provision":[109],"intelligent":[111],"facilities":[112],"constructing":[114],"plans":[116],"on-the-fly.":[117],"showcase":[119],"using":[122],"team":[124],"autonomous":[126],"mobile":[127],"robots":[128],"that":[129],"engage":[130],"in":[131],"leader-follower":[133],"scenario":[134],"experience":[136],"wide":[138],"variety":[139],"failures,":[141],"activating":[142],"distinct":[143],"recovery":[144],"mechanisms.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":10}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}