Robot control systems need to be dynamically reconfigured due to runtime variabilities, such as environmental conditions, workload fluctuation and resources availability. Dynamic reconfiguration must preserve desired system properties, such as performance and safety, that are typically called non-functional requirements. This talk discusses issues and challenges in managing software variability in robotic control systems and approaches for dealing with non-functional requirements.
 Davide Brugali, Rafael Capilla, Raffaela Mirandola, Catia Trubiani: Model-Based Development of QoS-Aware Reconfigurable Autonomous Robotic Systems. IRC 2018: 129-136
 Sergio García, Daniel Strüber, Davide Brugali, Alessandro Di Fava, Philipp Schillinger, Patrizio Pelliccione, Thorsten Berger: Variability Modeling of Service Robots: Experiences and Challenges. VaMoS 2019: 8:1-8:6