# QoS metrics-in-the-loop for endowing runtime self-adaptation to robotic software architectures

> Research article (Multimedia Tools and Applications, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4206481639](https://www.wikidata.org/wiki/openalex:W4206481639)  
**Source**: https://4ort.xyz/entity/qos-metrics-in-the-loop-for-endowing-runtime-self-adaptation-to-robotic-software-architectures