Adapting Autonomous Ocean Vehicle Software Systems To Changing Environments
OCEANS 2018 MTS/IEEE CHARLESTON(2018)
摘要
Software systems that can adapt to new requirements not only survive longer but also save overhead otherwise incurred from manually re-writing the software. Most software systems do not have this capability and older legacy software systems are frequently replaced as they become obsolete. This paper provides a two part approach for imbuing legacy systems with adaptive features. The first part utilizes program analysis, wherein we automatically transform the source code to create adaptive parameters. Second, we optimize these parameters against a wide range of operating contexts, thus expanding the programs range of capabilities beyond its original design. We demonstrate this approach on a non-adaptive case example, wherein the transformation and optimization does not rely on specific semantics of the source program. With this generality in hand, this approach may enable the expansion and optimization of a diverse variety of software systems
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关键词
Program Transformation, Optimization, UUV, Path Planner, Kalman Filter
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