Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots. Unfortunately, robotics software consumes significant amounts of energy. Moreover, robots are often battery-driven, meaning that even a small energy improvement can help reduce its energy footprint and increase its autonomy and user experience.In this paper, we study the Robot Operating System (ROS) ecosystem, the de-facto standard for developing and prototyping robotics software. We analyze 527 energy-related data points (including commits, pull-requests and issues on ROS-related repositories, ROS-related questions on StackOverflow, ROS Discourse, ROS Answers and the official ROS Wiki).Our results include a quantification of the interest of roboticists on software energy efficiency, 10 recurrent causes and 14 solutions of energy-related issues, and their implied trade-offs with respect to other quality attributes. Those contributions support roboticists and researchers towards having energy-efficient software in future robotics projects.
|Title of host publication||2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR) 2021|
|Subtitle of host publication||Proceedings|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||12|
|Publication status||Published - 28 Jun 2021|
|Event||18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021 - Virtual, Online|
Duration: 17 May 2021 → 19 May 2021
|Conference||18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021|
|Period||17/05/21 → 19/05/21|
Bibliographical noteFunding Information:
This research is partially supported by the Dutch Research Council (NWO) through the OCENW.XS2.038 grant; the CNPQ/FA through the PPP-CP-20/2018 call; and the FAPESPA.
This research is partially supported by the Dutch Research Council (NWO) through the OCENW.XS2.038grant; the CN-PQ/FA through the PPP-CP-20/2018 call; and the FAPESPA.
© 2021 IEEE.
- Energy consumption
- Mining software repository
- Software engeineering