A Model-Based Approach for Common Representation and Description of Robotics Software Architectures

Unlike conventional software, robotic software suffers from a lack of methods and processes that could systematize and facilitate development. Thus, the application of software engineering techniques is at the heart of current issues in robotics. The work presented in this paper aims to facilitate t...

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Bibliographic Details
Published in:Applied sciences 2022-03, Vol.12 (6), p.2982
Main Authors: Monthe, Valery Marcial, Nana, Laurent, Kouamou, Georges Edouard
Format: Article
Language:English
Subjects:
Architecture
Behavior
Computer architecture
Computer models
Computer programs
Computer Science
Design
domain specific languages
Eclipse EMF
Electromagnetic fields
Experimentation
Language
Literature reviews
model driven engineering
Modelling
Planning
real-time properties
Representations
Robotics
Robots
Semantics
Sensors
Software
Software engineering
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Summary:Unlike conventional software, robotic software suffers from a lack of methods and processes that could systematize and facilitate development. Thus, the application of software engineering techniques is at the heart of current issues in robotics. The work presented in this paper aims to facilitate the development of robotic software and to facilitate communication between experts in the field through the use of software engineering techniques and methods. It proposes RsaML (Robotic Software Architecture Modeling Language), a Domain Specific Modeling Language (DSML) dedicated to robotics, which takes into account the different categories of robotic software architectures and makes it possible to describe the latter independently from the implementation platform. The conceptual model defining the terminology and the hierarchy of concepts used for the description and representation of robotic software architectures in RsaML are presented in this article. RsaML is defined through a meta-model which represents the abstract syntax of the language. The real-time properties of robotic software architectures are identified and included in the meta-model. The use of RsaML is illustrated through several experimental scenarios of the language: the definition of a robotic system and the description of its software architecture, the verification of the semantics of a robotic software architecture, and the modeling of a robotic system whose software architecture does not belong to the usual categories. The support tool used for implementations and experimentation is Eclipse Modeling Framework (EMF). The results of experimentation showed good working of the proposed solution and made it possible to validate the main concepts of the RsaML language.
ISSN:2076-3417
2076-3417
DOI:10.3390/app12062982