Formal Architectural Patterns for Adaptive Robotic Software

TY - GEN

T1 - Formal Architectural Patterns for Adaptive Robotic Software

AU - Baxter, James

AU - Van Acker, Bert

AU - Kristensen, Morten

AU - Wright, Thomas David

AU - Cavalcanti, Ana Lucia Caneca

AU - Gomes, Cláudio

N1 - © 2025 The Author(s)

PY - 2025/5/1

Y1 - 2025/5/1

N2 - It is often the case that a robot must adapt to unexpected changes in its environment. It is, however, important that these changes can be demonstrated to maintain the safe operation of the robot. The adaptive systems community has developed the MAPE-K pattern as a widely recognised conceptual architecture. We propose extending MAPE-K to incorporate runtime verification, resulting in an architecture we call MAPLE-K. In this paper, we capture and formalise both the MAPE-K and MAPLE-K architectures using a domain-specific language. Additionally, we provide support for translation from architectural models to software models and code to facilitate the deployment of verified applications. MAPE-K is rarely maintained at the implementation level, but our work ensures traceability between the code and its design, enabling the use of architectural information to verify the correctness of the software.

AB - It is often the case that a robot must adapt to unexpected changes in its environment. It is, however, important that these changes can be demonstrated to maintain the safe operation of the robot. The adaptive systems community has developed the MAPE-K pattern as a widely recognised conceptual architecture. We propose extending MAPE-K to incorporate runtime verification, resulting in an architecture we call MAPLE-K. In this paper, we capture and formalise both the MAPE-K and MAPLE-K architectures using a domain-specific language. Additionally, we provide support for translation from architectural models to software models and code to facilitate the deployment of verified applications. MAPE-K is rarely maintained at the implementation level, but our work ensures traceability between the code and its design, enabling the use of architectural information to verify the correctness of the software.

U2 - 10.1007/978-3-031-90900-9_8

DO - 10.1007/978-3-031-90900-9_8

M3 - Conference contribution

SN - 978-3-031-90899-6

T3 - Lecture Notes in Computer Science (LNCS)

SP - 145

EP - 165

BT - Fundamental Approaches to Software Engineering

A2 - Boronat, Artur

A2 - Fraser, Gordon

PB - Springer Cham

T2 - Fundamental Approaches to Software Engineering, 28th International Conference, FASE 2025, Held as Part of the International Joint Conferences on Theory and Practice of Software, ETAPS 2025

Y2 - 3 May 2025 through 8 May 2025

ER -