Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation

Ivano Malavolta; Katerina Chinnappan; Stan Swanborn; Grace A. Lewis; Patricia Lago

doi:10.1109/MSR52588.2021.00042

Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation

Ivano Malavolta, Katerina Chinnappan, Stan Swanborn, Grace A. Lewis, Patricia Lago

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

Abstract

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.

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	300-311
Number of pages	12
ISBN (Electronic)	9781728187105
DOIs	https://doi.org/10.1109/MSR52588.2021.00042
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

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.

Publisher Copyright:
© 2021 IEEE.

Keywords

Energy efficient software
Robotics software
Software Architecture

UN SDGs

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

Access to Document

10.1109/MSR52588.2021.00042

Handle.net

Persistent link

Cite this

Malavolta, I., Chinnappan, K., Swanborn, S., Lewis, G. A., & Lago, P. (2021). Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation. In 2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR 2021): Proceedings (pp. 300-311). [9463098] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MSR52588.2021.00042

@inproceedings{056500dea74145e49a7eead1c335981d,

title = "Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation",

abstract = "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. ",

keywords = "Energy efficient software, Robotics software, Software Architecture",

author = "Ivano Malavolta and Katerina Chinnappan and Stan Swanborn and Lewis, {Grace A.} and Patricia Lago",

note = "Funding Information: This research is partially supported by the Dutch Research Council (NWO) through the OCENW.XS2.038 grant. 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",

month = jun,

day = "28",

doi = "10.1109/MSR52588.2021.00042",

language = "English",

pages = "300--311",

booktitle = "2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR 2021)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

}

Malavolta, I, Chinnappan, K, Swanborn, S, Lewis, GA & Lago, P 2021, Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation. in 2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR 2021): Proceedings., 9463098, Institute of Electrical and Electronics Engineers Inc., pp. 300-311, 18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021, Virtual, Online, 17/05/21. https://doi.org/10.1109/MSR52588.2021.00042

Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation. / Malavolta, Ivano; Chinnappan, Katerina; Swanborn, Stan et al.

2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR 2021): Proceedings. Institute of Electrical and Electronics Engineers Inc., 2021. p. 300-311 9463098.

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

TY - GEN

T1 - Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation

AU - Malavolta, Ivano

AU - Chinnappan, Katerina

AU - Swanborn, Stan

AU - Lewis, Grace A.

AU - Lago, Patricia

PY - 2021/6/28

Y1 - 2021/6/28

N2 - 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.

AB - 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.

KW - Energy efficient software

KW - Robotics software

KW - Software Architecture

UR - http://www.scopus.com/inward/record.url?scp=85104114139&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85104114139&partnerID=8YFLogxK

U2 - 10.1109/MSR52588.2021.00042

DO - 10.1109/MSR52588.2021.00042

M3 - Conference contribution

AN - SCOPUS:85104114139

SP - 300

EP - 311

BT - 2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR 2021)

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021

Y2 - 17 May 2021 through 19 May 2021

ER -

Malavolta I, Chinnappan K, Swanborn S, Lewis GA , Lago P. Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation. In 2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR 2021): Proceedings. Institute of Electrical and Electronics Engineers Inc. 2021. p. 300-311. 9463098 Epub 2021 May 17. doi: 10.1109/MSR52588.2021.00042

Mining the ROS ecosystem for green architectural tactics in robotics and an empirical evaluation

Abstract

Conference

Bibliographical note

Keywords

UN SDGs

Access to Document

Handle.net

Other files and links

Fingerprint

Cite this