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 proceedingConference contributionAcademicpeer-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 languageEnglish
Title of host publication2021 IEEE/ACM 18th International Conference on Mining Software Repositories (MSR 2021)
Subtitle of host publicationProceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages300-311
Number of pages12
ISBN (Electronic)9781728187105
DOIs
Publication statusPublished - 28 Jun 2021
Event18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021 - Virtual, Online
Duration: 17 May 202119 May 2021

Conference

Conference18th IEEE/ACM International Conference on Mining Software Repositories, MSR 2021
CityVirtual, Online
Period17/05/2119/05/21

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

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