System-Self as a Data Structure: An Architectural Approach to Bounded Adaptation
arXiv:2607.13249
The paper proposes a graph‑based representation of a system’s architecture that is used during operation to jointly adapt structural configurations and controller parameters, demonstrated on a differential‑drive robot facing sensor drift and actuator faults, achieving much lower tracking error than fixed‑architecture approaches.
Abstract
Safety critical autonomous systems often adapt by adjusting controller parameters while keeping the underlying architecture fixed. This strategy breaks down when shifts in sensing, resource availability, or component health invalidate the original structural assumptions. This work introduces a method in which system maintain an explicit, graph-based representation of their architecture and reason over it during operation. The system is modeled as a directed graph of physical, functional, and model based modules, with edges capturing information and control dependencies. Adaptation is posed as a joint optimization over architectural configurations and module parameters, subject to operational constraints using a Monitor-Analyze-Plan-Execute loop-based finite state machine. Performance degradation is isolated via residual decomposition and dependency weighted influence propagation, and candidate adaptations are filtered using a stability aware mechanism. The approach is demonstrated on a differential drive robot under sensor drift and actuator faults. A fixed architecture accumulates tracking errors of up to 24 m and 13 m, respectively, whereas architecture aware adaptation reduces error under 1.5 m in each case, by selecting fault appropriate configurations. These results show the value of reasoning over system structure, while preserving stability, rather than relying solely on parameter tuning.
10 pages conference paper