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\begin{document}

\title{SCARS: Suturing Wounds due to Conflicts between Non-Functional
Requirements in Robotic Systems}



\author[1]{Mandira Roy}%
\author[2]{Raunak Bag}%
\author[3]{Novarun Deb}%
\author[2]{Agostino Cortesi}%
\author[1]{Rituparna Chaki}%
\author[1]{Nabendu  Chaki }%
\affil[1]{University of Calcutta}%
\affil[2]{Universita Ca' Foscari Dipartimento di Scienze Ambientali Informatica e Statistica}%
\affil[3]{Indian Institute of Information Technology Vadodara}%


\vspace{-1em}



  
  \date{May 24, 2024}


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\begin{abstract}
Conflicts among non-functional requirements for robotic systems heavily
depend on features of actual execution contexts. The main objective of
this work is to design and experimentally evaluate a framework, called
SCARS, providing: (a) a domain-specific language extending the ROS2
Domain Specific Language (DSL) concepts by considering the different
environmental contexts in which the system has to operate, (b) support
to analyze their impact on non-functional requirements, and (c) the
computation of the optimal degree of non-functional requirement
satisfaction that can be achieved within different system
configurations. The effectiveness of SCARS has been validated on the
Gazebo simulation for iRobot \selectlanguage{ngerman}\textsuperscript{®} Create
\textsuperscript{®}3 robot.%
\end{abstract}\selectlanguage{ngerman}%



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