Eclipse Muto

Eclipse Muto provides an adaptive framework and a runtime platform for dynamically composable model-driven ROS software stacks on autonomous vehicles and robots in general.  

Eclipse Muto introduces the concept of a lightweight model for ROS software stacks, which in its simplest form is a model for the system of connected ROS nodes and the context for which it is applicable. The Muto Agent and Muto Composer are ROS based runtimes designed to run on edge devices (i.e. AVs). Muto Dashboard is an extensible Web/Mobile application for centralized management of edge devices and Muto stacks deployed on these devices. Muto Composer runtime can introspect and change (i.e launch, stop, restart, configure, etc.) the network of distributed components running on a device using the Muto Stack definitions.  Muto Agent allow remote management and monitoring of the devices and stacks and uses eclipse IoT technology such as Eclipse Ditto to define a digital twin for each device providing synchronous and asynchronous APIs and use the digital twin API to manage Muto stacks and ROS behavior.  

The adaptive behavior is introduced by an extensible model where the context detection, stack rewriting, validation, constraint satisfaction, safety and security concerns can be offloaded to other modules (i.e proprietary systems). An example of such a module would be a remote control system where human operators determine the next configuration.  A different implementation might use machine learning and scene detection to switch and transition to different stacks that are suitable to the current context.