  The design of systems that can change their behaviour to account for
scenarios that were not foreseen at design time remains an open challenge. In
this paper we propose an approach for adaptation of mobile robot missions that
is not constrained to a predefined set of mission evolutions. We propose
applying the MORPH adaptive software architecture to UAVs and show how
controller synthesis can be used both to guarantee correct transitioning from
the old to the new mission goals while architectural reconfiguration to include
new software actuators and sensors if necessary. The architecture brings
together architectural concepts that are commonplace in robotics such as
temporal planning, discrete, hybrid and continuous control layers together with
architectural concepts from adaptive systems such as runtime models and runtime
synthesis. We validate the architecture flying several missions taken from the
robotic literature for different real and simulated UAVs.
