Context: Robotics software architecture-based self-adaptive systems (RSASSs) are robotics systems made robust to runtime uncertainty by adapting their software architectures. The research landscape of RSASS approaches is multidisciplinary and fragmented, with many aspects still unexplored or ineffectively shared among communities involved. Objective: We aim at identifying, classifying, and analyzing the state of the art of existing approaches for RSASSs from the following perspectives: (i) the key characteristics of approaches and (ii) the evaluation strategies applied by researchers. Method: We apply the systematic mapping research method. We selected 37 primary studies via automatic, manual, and snowballing-based search and selection procedures. We rigorously defined and applied a classification framework composed of 32 parameters and synthesize the obtained data to produce a comprehensive overview of the state of the art. Results: This work contributes (i) a rigorously defined classification framework for studies on RSASSs, (ii) a systematic map of the research efforts on RSASSs, (iii) a discussion of emerging findings and implications for future research, and (iv) a publicly available replication package. Conclusion: This study provides a solid evidence-based overview of the state of the art in RSASS approaches. Its results can benefit RSASS researchers at different levels of seniority and involvement in RSASS research. Editor’s note: Open Science material was validated by the Journal of Systems and Software Open Science Board .

Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this paper presents SUAVE, an exemplar for two-layered system-level adaptation of AUVs, which clearly separates the application and self-adaptation concerns. The exemplar focuses on a mission for underwater pipeline inspection by a single AUV, implemented as a ROS 2-based system. This mission must be completed while simultaneously accounting for uncertainties such as thruster failures and unfavorable environmental conditions. The paper discusses how SUAVE can be used with different self-adaptation frameworks, illustrated by an experiment using the Metacontrol framework to compare AUV behavior with and without self-adaptation. The experiment shows that the use of Metacontrol to adapt the AUV during its mission improves its performance when measured by the overall time taken to complete the mission or the length of the inspected pipeline.

Contemporary deployment environments are volatile, with conditions that are often hard to predict in advance, demanding solutions that are able to learn how best to design a system at runtime from a set of available alternatives. While the self-adaptive systems community has devoted significant attention to online learning, there is less research specifically directed towards learning for open-ended architectural adaptation - where individual components represent alternatives that can be added and removed dynamically. In this paper we present the Emergent Web Server (EWS), an architecture-based adaptive web server with 42 unique compositions of alternative components that present different utility when subjected to different workload patterns. This artefact allows the exploration of online learning techniques that are specifically able to consider the composition of logic that comprises a given system, and how each piece of logic contributes to overall utility. It also allows the user to add new components at runtime (and so produce new composition options), and to remove existing components; both are likely to occur in systems where developers (or automated code generators) deploy new code on a continuous basis and identify code which has never performed well. Our exemplar bundles together a fully-functional web server, a number of pre-packaged online learning approaches, and utilities to integrate, evaluate, and compare new online learning approaches.