# ROSA: A Knowledge-based Solution for Robot Self-Adaptation

arXiv: https://arxiv.org/abs/2505.00733 · HTML: https://mlsanity.com/paper/2505.00733/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 9 of its 48 references that are in the map.
- First posted on arXiv 29 Apr 2025.

## Builds on (most cited first, 9 of 9)

- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [Behavior Trees in Robotics and AI: An Introduction](https://mlsanity.com/paper/1709.00084/) (2017)
- [The Robot Household Marathon Experiment](https://mlsanity.com/paper/2011.09792/) (2020)
- [PlanSys2: A Planning System Framework for ROS2](https://mlsanity.com/paper/2107.00376/) (2021)
- [Towards Adaptive Planning of Assistive-care Robot Tasks](https://mlsanity.com/paper/2209.14041/) (2022)
- [MORPH: A Reference Architecture for Configuration and Behaviour Self-Adaptation](https://mlsanity.com/paper/1504.08339/) (2015)
- [MROS: Runtime Adaptation For Robot Control Architectures](https://mlsanity.com/paper/2010.09145/) (2020)
- [SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles](https://mlsanity.com/paper/2303.09220/) (2023)
- [Context-based navigation for ground mobile robot in a semi-structured indoor environment](https://mlsanity.com/paper/2111.12111/) (2021)

## Abstract (arXiv)

Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require distinct task logic and architectural configurations. To address this, robotic systems can be designed as self-adaptive systems capable of adapting their task execution and software architecture at runtime based on their context.This paper introduces ROSA, a novel knowledge-based framework for RObot Self-Adaptation, which enables task-and-architecture co-adaptation (TACA) in robotic systems. ROSA achieves this by providing a knowledge model that captures all application-specific knowledge required for adaptation and by reasoning over this knowledge at runtime to determine when and how adaptation should occur. In addition to a conceptual framework, this work provides an open-source ROS 2-based reference implementation of ROSA and evaluates its feasibility and performance in an underwater robotics application. Experimental results highlight ROSA's advantages in reusability and development effort for designing self-adaptive robotic systems.