Mining energy-related practices in robotics software

Michel Albonico; Ivano Malavolta; Gustavo Pinto; Emitza Guzman; Katerina Chinnappan; Patricia Lago

doi:10.1109/MSR52588.2021.00060

Mining energy-related practices in robotics software

Michel Albonico, Ivano Malavolta, Gustavo Pinto, Emitza Guzman, Katerina Chinnappan, Patricia Lago

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

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.

Original language	English
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.
Pages	483-494
Number of pages	12
ISBN (Electronic)	9781728187105
ISBN (Print)	9781665429856
DOIs	https://doi.org/10.1109/MSR52588.2021.00060
Publication status	Published - 2021
Event	18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021 - Virtual, Online Duration: 17 May 2021 → 19 May 2021

Conference

Conference	18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021
City	Virtual, Online
Period	17/05/21 → 19/05/21

Bibliographical note

Funding 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.

Funding Information:
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.

Publisher Copyright:
© 2021 IEEE.

Keywords

Energy consumption
Mining software repository
Robotics
Software engeineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/MSR52588.2021.00060

Mining energy-related practices in robotics softwareFinal published version, 787 KBLicence: Article 25fa Dutch Copyright Act

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Albonico, M., Malavolta, I., Pinto, G., Guzman, E., Chinnappan, K., & Lago, P. (2021). Mining energy-related practices in robotics software. In 2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR) 2021: [Proceedings] (pp. 483-494). Article 9463077 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MSR52588.2021.00060

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abstract = "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. ",

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author = "Michel Albonico and Ivano Malavolta and Gustavo Pinto and Emitza Guzman and Katerina Chinnappan and Patricia Lago",

note = "Funding 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. Funding Information: 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. Publisher Copyright: {\textcopyright} 2021 IEEE.; 18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021 ; Conference date: 17-05-2021 Through 19-05-2021",

year = "2021",

doi = "10.1109/MSR52588.2021.00060",

language = "English",

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Albonico, M, Malavolta, I, Pinto, G, Guzman, E, Chinnappan, K & Lago, P 2021, Mining energy-related practices in robotics software. in 2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR) 2021: [Proceedings]., 9463077, Institute of Electrical and Electronics Engineers Inc., pp. 483-494, 18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021, Virtual, Online, 17/05/21. https://doi.org/10.1109/MSR52588.2021.00060

Mining energy-related practices in robotics software. / Albonico, Michel; Malavolta, Ivano; Pinto, Gustavo et al.
2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR) 2021: [Proceedings]. Institute of Electrical and Electronics Engineers Inc., 2021. p. 483-494 9463077.

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Mining energy-related practices in robotics software

AU - Albonico, Michel

AU - Malavolta, Ivano

AU - Pinto, Gustavo

AU - Guzman, Emitza

AU - Chinnappan, Katerina

AU - Lago, Patricia

N1 - Funding 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. Funding Information: 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. Publisher Copyright: © 2021 IEEE.

PY - 2021

Y1 - 2021

N2 - 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.

AB - 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.

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ER -

Mining energy-related practices in robotics software

Abstract

Conference

Bibliographical note

Keywords

UN SDGs

Access to Document

Persistent URL (handle)

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