Model-driven software development approaches in robotics research

Ramaswamy, Arunkumar; Monsuez, Bruno; Tapus, Adriana

doi:10.1145/2593770.2593781

Cited by 18 publications

(10 citation statements)

References 14 publications

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“…Ramaswamy et al [4] discuss and compare four popular robotic MDSDs: RobotML, SmartSoft, BRICS Component Model and V3CMM. In the following, the main attributes of these MDSDs are presented.…”

Section: Mdsd In Roboticsmentioning

confidence: 99%

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EARL—Embodied Agent-Based Robot Control Systems Modelling Language

et al. 2020

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The paper presents the Embodied Agent-based Robot control system modelling Language (EARL). EARL follows a Model-Driven Software Development approach (MDSD), which facilitates robot control system development. It is based on a mathematical method of robot controller specification, employing the concept of an Embodied Agent, and a graphical modelling language: System Modelling Language (SysML). It combines the ease of use of SysML with the precision of mathematical specification of certain aspects of the designed system. It makes the whole system specification effective, from the point of view of the time needed to create it, conciseness of the specification and the possibility of its analysis. By using EARL it is possible to specify systems both with fixed and variable structure. This was achieved by introducing a generalised system model and presenting particular structures of the system in terms of modelling block configurations adapted by using instances. FABRIC framework was created to support the implementation of EARL-based controllers. EARL is compatible with component based robotic middlewares (e.g., ROS and Orocos).

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Section: Mdsd In Roboticsmentioning

confidence: 99%

“…It highlights the description of the communication between components. Seven communication patterns are defined: send, query, push newest, push time, event patterns, state and wiring [4]. The language is related to the set of programming tools included in SmartMDSD Toolchain [9].…”

Section: Mdsd In Roboticsmentioning

confidence: 99%

EARL—Embodied Agent-Based Robot Control Systems Modelling Language

et al. 2020

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“…As such models further can be independent of GPL details, they are available for translation into different GPLs and enable us to reuse domain expertise with different programming languages, ecosystems, and services [46]. Multiple domains, including automotive [2,26], avionics [17], robotics [6,45] have employed MDE with various success [34,57].…”

Section: Preliminariesmentioning

confidence: 99%

Architecting Cloud Services for the Digital Me in a Privacy-Aware Environment

Eikermann

Look

Roth

et al. 2017

Software Architecture for Big Data and the Cloud

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“…MDE has been successfully applied to different aspects of robotics applications [16]. Current robotics MDE research aims to reduce the complexity of imperative or event-driven programming [17], [18], [19], [20], to describe kinematics, or geometric relations [21], [22], or to model software architectures for robotic systems [2], [3], [23], [24], [25], [26].…”

Section: Related Workmentioning

confidence: 99%

Modeling robot and world interfaces for reusable tasks

Heim

Nazari

Ringert

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Robotics applications involve robots that perform tasks by interacting with specific worlds. Most applications are intertwined with and tied to fixed robots and worlds. Changes and evolution of a robot or world have an invasive and often unpredictable impact on the application software.We propose making the models of robots and worlds explicit in robotics applications and separate these by introducing application-specific and platform-independent interfaces. This separation allows modular model-driven development of robotics applications and enables the reuse and adaptation of models and applications without need for invasive modifications.We present a framework with a family of modeling languages for conceptual, platform-independent applications, tasks, robots, and worlds. The model-driven RoboTask framework integrates these languages with a runtime architecture to execute robotics tasks using a planner and mappings from conceptual models to actual platforms. This enables a separation of domain concerns from software development concerns and modification of applications without invasive impacts on their separated constituents. We believe that the enabled reuse and adaptation lead to more efficient development and higher quality software for robotics applications.

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Model-driven software development approaches in robotics research

Cited by 18 publications

References 14 publications

EARL—Embodied Agent-Based Robot Control Systems Modelling Language

EARL—Embodied Agent-Based Robot Control Systems Modelling Language

Architecting Cloud Services for the Digital Me in a Privacy-Aware Environment

Modeling robot and world interfaces for reusable tasks

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