This repository is not maintained. The code contained was intended to demonstrate a prototype of the conceptual approach in [1] A successor of the OM framework is currently being developped in my [Metacontrol] research line, currently for [ROS sytems].

ROS packages containing the infrastructure to connect the metacontrol system implemented in the OMJava library to a ROS-based system.

User and developer documentation can be found in here

om_ros requires:

• OMJava
• ROS fuerte

1. Model-based Self-awareness Patterns for Autonomy, C. Hernandez. PhD thesis, Universidad Politecnica de Madrid, ETSII, Dpto. Automatica, Ing. Electronica e Informatica Industrial, October 2013. [PDF]

2. Model-based metacontrol for self-adaptation, C. Hernandez, J. L. Fernandez-Sanchez, G. Sanchez-Escribano, J. Bermejo-Alonso, and R. Sanz. Intelligent Robotics and Applications (ICIRA 2015), vol. 9244 of Lecture Notes in Artificial Intelligence, pages 643–654. 2015.