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.
|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.
© 2021 IEEE.
- Energy efficient software
- Robotics software
- Software Architecture