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Architectural Tactics for Energy-Aware Robotics Software: A Preliminary Study

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Software Architecture (ECSA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 12857))

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Abstract

In software engineering, energy awareness refers to the conscious design and development of software that is able to monitor and react to energy state. Energy awareness is the key building block for energy efficiency and for other quality aspects of robotics software, such as mission completion time and safety. However, as of today, there is no guidance for practitioners and researchers on how to architect robotics software with energy awareness in mind. The goal of this paper is to identify architectural tactics for energy-aware robotics software. Specifically, using a dataset of 339493 data points extracted from five complementary data sources (e.g., source code repositories, Stack Overflow), we identified and analyzed 97 data points that considered both energy consumption and architectural concerns. We then synthesized a set of energy-aware architectural tactics via thematic analysis. In this preliminary investigation we focus on two representative architectural tactics.

Copyright 2021 for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

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Notes

  1. 1.

    https://answers.ros.org.

  2. 2.

    https://discourse.ros.org.

  3. 3.

    https://github.com/S2-group/ecsa-2021-replication-package.

  4. 4.

    https://github.com/vortexntnu/rov-control.

  5. 5.

    https://github.com/aau-ros/aau_multi_robot.

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Acknowledgments

This research is partially supported by the Dutch Research Council (NWO) through the OCENW.XS2.038 grant; and the CNPQ/FA through the PPP-CP-20/2018 call.

Author information

Authors and Affiliations

  1. Vrije Universiteit Amsterdam, Amsterdam, The Netherlands

    Katerina Chinnappan, Ivano Malavolta & Patricia Lago

  2. Software Engineering Institute, Carnegie Mellon University, Pittsburgh, USA

    Grace A. Lewis

  3. Federal University of Technology, Paraná - UTFPR, Francisco Beltrão, Brazil

    Michel Albonico

  4. Chalmers University of Technology, Gothenburg, Sweden

    Patricia Lago

Authors
  1. Katerina Chinnappan
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  2. Ivano Malavolta
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  3. Grace A. Lewis
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  4. Michel Albonico
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  5. Patricia Lago
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Corresponding author

Correspondence to Michel Albonico .

Editor information

Editors and Affiliations

  1. Institute of Information Systems Engineering, Technische Universität Wien, Vienna, Austria

    Stefan Biffl

  2. University of Castilla-La Mancha, Albacete, Spain

    Elena Navarro

  3. Department of Computer Science, Linnaeus University, Växjö, Sweden

    Welf Löwe

  4. Design and Engineering, Mälardalen University, Västerås, Sweden

    Marjan Sirjani

  5. Politecnico di Milano, Milano, Italy

    Raffaela Mirandola

  6. KU Leuven, Leuven, Belgium

    Danny Weyns

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Chinnappan, K., Malavolta, I., Lewis, G.A., Albonico, M., Lago, P. (2021). Architectural Tactics for Energy-Aware Robotics Software: A Preliminary Study. In: Biffl, S., Navarro, E., Löwe, W., Sirjani, M., Mirandola, R., Weyns, D. (eds) Software Architecture. ECSA 2021. Lecture Notes in Computer Science(), vol 12857. Springer, Cham. https://doi.org/10.1007/978-3-030-86044-8_11

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  • DOI: https://doi.org/10.1007/978-3-030-86044-8_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-86043-1

  • Online ISBN: 978-3-030-86044-8

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