Mining the ROS ecosystem for Green Architectural Tactics in Robotics and an Empirical Evaluation
In today’s world, reducing energy consumption should be the goal for any organization and any system, including robotics software systems. However, state of the practice in robotics software development focuses primarily on achieving functionality and performance, with minimal recognition of energy-efficiency as a driving software quality. The goal of this paper is to identify, synthesize, and empirically evaluate architectural tactics for energy-efficiency applied by practitioners in real robotics projects. Four tactics were identified by mining software repository techniques applied to the ROS ecosystem. The tactics were evaluated via experimentation on a real, commodity robotics system. Results show that the application of green architectural tactics tends to largely improve the energy-efficiency of the robot (7.9% energy savings when all tactics are applied) and that the movement strategy and the physical environment where the robot operates strongly influence how energy is consumed by the robot.
Wed 19 MayDisplayed time zone: Amsterdam, Berlin, Bern, Rome, Stockholm, Vienna change
17:00 - 17:50 | Energy, logging, and APIsTechnical Papers at MSR Room 1 Chair(s): Akond Rahman Tennessee Tech University | ||
17:01 3mTalk | S3M: Siamese Stack (Trace) Similarity Measure Technical Papers Aleksandr Khvorov JetBrains, ITMO University, Roman Vasiliev JetBrains, George Chernishev Saint-Petersburg State University, Irving Muller Rodrigues Polytechnique Montreal, Montreal, Canada, Dmitrij Koznov Saint-Petersburg State University, Nikita Povarov JetBrains Pre-print | ||
17:04 4mTalk | Mining the ROS ecosystem for Green Architectural Tactics in Robotics and an Empirical Evaluation Technical Papers Ivano Malavolta Vrije Universiteit Amsterdam, Katerina Chinnappan Vrije Universiteit Amsterdam, Stan Swanborn Vrije Universiteit Amsterdam, The Netherlands, Grace Lewis Carnegie Mellon Software Engineering Institute, Patricia Lago Vrije Universiteit Amsterdam Pre-print Media Attached | ||
17:08 4mTalk | Mining Energy-Related Practices in Robotics Software Technical Papers Michel Albonico UTFPR, Ivano Malavolta Vrije Universiteit Amsterdam, Gustavo Pinto Federal University of Pará, Emitzá Guzmán Vrije Universiteit Amsterdam, Katerina Chinnappan Vrije Universiteit Amsterdam, Patricia Lago Vrije Universiteit Amsterdam Pre-print Media Attached | ||
17:12 3mTalk | Mining API Interactions to Analyze Software Revisions for the Evolution of Energy Consumption Technical Papers Andreas Schuler University of Applied Sciences Upper Austria, Gabriele Anderst-Kotsis Johannes Kepler University, Linz, Austria Pre-print | ||
17:15 4mTalk | Can I Solve it? Identifying the APIs required to complete OSS tasks Technical Papers Fabio Marcos De Abreu Santos Northern Arizona University, USA, Igor Scaliante Wiese Federal University of Technology – Paraná - UTFPR, Bianca Trinkenreich Northern of Arizona Univeristy, Igor Steinmacher Northern Arizona University, USA, Anita Sarma Oregon State University, Marco Gerosa Northern Arizona University, USA Pre-print | ||
17:19 31mLive Q&A | Discussions and Q&A Technical Papers |
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