A Cell-Based Approach for Evolutionary Component Repositories for Intelligent Service Robots

Self-growing software is a software system that grows its functionalities and configurations by itself according to dynamically monitored situations. A component repository system is one of the essential parts of self-growing robot software, and the SemBots project at ICU is developing a cell-based distributed repository system that reconfigures its structure dynamically for reflecting accessibility evolutionarily. To accomplish evolutionary repositories, we invent the concept of a cell that is a logical grouping of distributed repositories based on an ontology hierarchy. In addition, it is also a unit for evolutionary reconfiguration of the repository structure. In this paper, we describe the requirements and architecture of the cell-based repository system for self-growing software. We also present a prototype implementation and experiment of the repository system. Through the cell-based repositories, we achieve improved performance of self-growing actions for robots and efficient management of components for developers.