Containment units: a hierarchically composable architecture for adaptive systems

Software is increasingly expected to run in a variety of environments. The environments themselves are often dynamically changing when using mobile computers or embedded systems, for example. Network bandwidth, available power, or other physical conditions may change, necessitating the use of alternative algorithms within the software, and changing resource mixes to support the software. We present Containment Units as a software architecture useful for recognizing environmental changes and dynamically reconfiguring software and resource allocations to adapt to those changes. We present examples of Containment Units used within robotics along with the results of actual executions, and the application of static analysis to obtain assurances that those Containment Units can be expected to demonstrate the robustness for which they were designed.