关键词: 移动机器人中间件，自适应能力，服务质量保证，SCC结构

Abstract: Robot middleware systems facilitate the development of self-adaptive robot applications by providing a set of high-level sensor/actuator APIs that abstract and hick the heterogeneity of different hardware platforms. We presented a middleware infrastructure supporting self-adaptive programming on mobile robot systems. It aims to cope with cross-platform issues and provide guarantee for the service quality in terms of a set of abstracted and quality-guaranteed APIs. We used this middleware infrastructure to support the development of self-adaptive applications on mobile robot systems, so that it could provide a consistent level of QoS guarantee despite of the varying physical differences among different robot car systems. Our experimental evaluation reports promising results that the middleware can effectively support quality-guaranteed selfadaptive programming.

Key words: Mobile robot middleware, Self-adaptive capacity, Guarantee of service quality, SCC architecture