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Modeling Non-Functional Application Domain Constraints for Component-Based Robotics Software Systems [article]

Alex Lotz, Arne Hamann, Ingo Lütkebohle, Dennis Stampfer, Matthias Lutz, Christian Schlegel
2016 arXiv   pre-print
Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level.  ...  In this paper, we propose modeling concepts for these semantics, and present a meta-model which (i) enables component developers to implement component functionalities without presuming application-specific  ...  To this effect, the presented work provides a contribution for making the step from function-driven system-level coding towards structured, application-specific, and model-driven system integration.  ... 
arXiv:1601.02379v1 fatcat:wbwa5xed5rbsvhpgqd4yvtiyom

Addressing Multi-Domain Integration Challenge in Robotics using Model-Based Approach

Arunkumar Ramaswamy, Bruno Monsuez, Adriana Tapus
2014 ACM/IEEE International Conference on Model Driven Engineering Languages and Systems  
Software development for robotic systems require knowledge from several domains. This paper highlights the application of domain modeling in SafeRobots Framework for designing robotic systems.  ...  We discuss how heterogeneous domain models can be modeled and integrated for systematic software development, and how it can be employed in intelligent model evolution.  ...  In this paper, we highlight the application of domain modeling for robotic system design in our 'SafeRobots' framework [4] .  ... 
dblp:conf/models/RamaswamyMT14 fatcat:a2xotmb3kbdhfcg24olpfchn6u

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

Valery Marcial Monthe, Laurent Nana, Georges Edouard Kouamou
2022 Applied Sciences  
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  ...  of a robotic software architecture, and the modeling of a robotic system whose software architecture does not belong to the usual categories.  ...  The authors made new works [69] dedicated to the modeling of non-functional constraints for robotic software systems.  ... 
doi:10.3390/app12062982 doaj:e409d00476c643168a53ddf495b7f365 fatcat:neqyq4mhvvcdbhhrfvvi3ygnui

A model-based approach to software deployment in robotics

Nico Hochgeschwender, Luca Gherardi, Azamat Shakhirmardanov, Gerhard K. Kraetzschmar, Davide Brugali, Herman Bruyninckx
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Deploying a complex robot software architecture on real robot systems and getting it to run reliably is a challenging task.  ...  This paper presents a domain-specific language (DSL) which supports this idea and demonstrates how the DSL is used in a model-driven engineering-based development process.  ...  FP7-ICT-231940-BRICS (Best Practice in Robotics).  ... 
doi:10.1109/iros.2013.6696915 dblp:conf/iros/HochgeschwenderGSKBB13 fatcat:smawvcmtzrfl7i4q5yziewbjli

Software Product Line Engineering for Robotic Perception Systems

Davide Brugali, Nico Hochgeschwender
2018 International Journal of Semantic Computing (IJSC)  
A real-world robot control system is composed of tens of software components. For each component providing robotic functionality, tens of different implementations may be available.  ...  In a previous paper [11] we have presented a Model-based approach to the development of SPL for robotic perception systems, which integrates two modeling technologies developed by the authors: the HyperFlex  ...  In contrast, HyperFlex models functional features at the level of software components and component-based systems.  ... 
doi:10.1142/s1793351x18400056 fatcat:7g4jgjyn5negbeedkz6ryy7dve

A Software Architecture Framework for Home Service Robots

Mohamed Tahar Kimour, Amar Bessam, Rachid Boudour
2009 Journal of Computing and Information Technology  
When developing robot software, one of the main challenges is to build the software architectural model.  ...  Though many software architectures for robotic systems have been defined, none of them have reached all its objectives due to the great variability among systems behaviors, and still lack of systematic  ...  In this paper, we present a generic architecture model for home service robots facilitating the software architecture design, which would rely on a continuous refinement of application models, with system  ... 
doi:10.2498/cit.1001212 fatcat:o773xwbdlfc3zgjfyuipjn5pom

Managing the Functional Variability of Robotic Perception Systems

Davide Brugali, Nico Hochgeschwender
2017 2017 First IEEE International Conference on Robotic Computing (IRC)  
A real-world robot control system is composed of tens of software components. For each component providing robotic functionality, tens of different implementations may be available.  ...  Control systems for autonomous robots are concurrent, distributed, embedded, real-time and data intensive software systems.  ...  A real-world robot control system is composed of tens of software components. For each component providing a robot functionality, tens of different implementations may be available.  ... 
doi:10.1109/irc.2017.20 dblp:conf/irc/BrugaliH17 fatcat:is5eq2zbrzgtli2tacq5swvj2a

The BRICS component model

Herman Bruyninckx, Markus Klotzbücher, Nico Hochgeschwender, Gerhard Kraetzschmar, Luca Gherardi, Davide Brugali
2013 Proceedings of the 28th Annual ACM Symposium on Applied Computing - SAC '13  
Because robotic systems get more complex all the time, developers around the world have, during the last decade, created component-based software frameworks (Orocos, Open-RTM, ROS, OPRoS, SmartSoft) to  ...  This paper introduces the BRICS Component Model (BCM) to provide robotics developers with a set of guidelines, metamodels and tools for structuring as much as possible the development of, both, individual  ...  FP7-ICT-231940-BRICS (Best Practice in Robotics). The authors would like to thank all the partners of the BRICS project for their valuable comments. ADDITIONAL AUTHORS  ... 
doi:10.1145/2480362.2480693 dblp:conf/sac/BruyninckxKHKGB13 fatcat:5qj35wbn5jb7ljsp6fxutw3sh4

Safety oriented software engineering process for autonomous robots

Vladislav Gribov, Holger Voos
2013 2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)  
In this paper, a safety oriented model based software engineering process for autonomous robots is proposed.  ...  The introduced engineering processes consist of the Domain Engineering, which is dealing with the development of a set of interlinked formalized safety cases and software components.  ...  We have proposed a model based approach to the safety case on the example of the ISO IDIS 13482, the component-based multi-level safe robot software architecture, the interconnected repositories for store  ... 
doi:10.1109/etfa.2013.6647969 dblp:conf/etfa/GribovV13 fatcat:kqlfczd3cffd3avquo7vqjowsa

Model-driven software development approaches in robotics research

Arunkumar Ramaswamy, Bruno Monsuez, Adriana Tapus
2014 Proceedings of the 6th International Workshop on Modeling in Software Engineering - MiSE 2014  
A conceptual overview of our software development approach called 'Self Adaptive Framework for Robotic Systems (SafeRobots)' is explained and we also try to position our approach within this model ecosystem  ...  Recently, there is an encouraging trend in adopting modeldriven engineering approaches for software development in robotics research.  ...  Motivated from the positive results from the application of Model-driven Software Development (MDSD) in other domains such as automotive, avionics, etc., the software engineering community in robotics  ... 
doi:10.1145/2593770.2593781 dblp:conf/icse/RamaswamyMT14 fatcat:ghqa6xsmdfa5lh3dkxzsyjlupu

Software Variability Composition and Abstraction in Robot Control Systems [chapter]

Davide Brugali, Mauro Valota
2016 Lecture Notes in Computer Science  
A real-world robot control system is composed of tens of software components. For each component providing robotic functionality, tens of different implementations may be available.  ...  Control systems for autonomous robots are concurrent, distributed, embedded, real-time and data intensive software systems.  ...  In contrast, HyperFlex models functional features at the level of software components and component-based systems and thus is more adequate to model variability in robotic control systems.  ... 
doi:10.1007/978-3-319-42089-9_26 fatcat:irzssxiesfhkjnj5orh6dhjve4

A Development Cycle for Automated Self-Exploration of Robot Behaviors [article]

Thomas M. Roehr, Daniel Harnack, Hendrik Wöhrle, Felix Wiebe, Moritz Schilling, Oscar Lima, Malte Langosz, Shivesh Kumar, Sirko Straube, Frank Kirchner
2021 arXiv   pre-print
These processes are based on a graph-based representation of a robot's structure, including hardware and software components.  ...  A central, scalable knowledge base enables collaboration of robot designers including mechanical, electrical and systems engineers, software developers and machine learning experts.  ...  Acknowledgements We thank all members of the Q-Rock development team and the internal reviewers for their valuable feedback on preliminary versions of this paper.  ... 
arXiv:2007.14928v2 fatcat:v2h5j74mgbfofn5wb6nx6yav3a

Dealing with Run-Time Variability in Service Robotics: Towards a DSL for Non-Functional Properties [article]

Juan Francisco Inglés-Romero and Alex Lotz and Cristina Vicente Chicote and Christian Schlegel
2013 arXiv   pre-print
In this paper, we introduce a DSL to express run- time variability focused on the execution quality of the robot (in terms of non-functional properties like safety and task efficiency) under changing situations  ...  We underpin the applicability of our approach by an example integrated into an overall robotics architecture.  ...  The authors also want to thank Matthias Lutz for his extraordinary support in integrating the examples on the service robot Kate.  ... 
arXiv:1303.4296v1 fatcat:ihmnritgzvadvhtfi2hrxy5am4

Model Driven Engineering for the Implementation of User Roles in Industrial Service Robot Applications

Alexander Bubeck, Benjamin Maidel, Felipe Garcia Lopez
2014 Procedia Technology - Elsevier  
In contrast to other applications of MDE in robotic domains, as e.g. in Smartsoft [7] or Proteus [8] , this concept is not mapping unified modeling language (UML) profiles to robotic software, but is  ...  Conclusion Adopting the concepts of model driven engineering to robotics has high impact on reusability of existing software and the performance of robot application, system and capability development,  ... 
doi:10.1016/j.protcy.2014.09.021 fatcat:2lzjfduojjd6hgqttlpafsexpi

Towards a Process to Design Architectures of Service-Oriented Robotic Systems [chapter]

Lucas Bueno Ruas Oliveira, Elena Leroux, Katia Romero Felizardo, Flavio Oquendo, Elisa Yumi Nakagawa
2014 Lecture Notes in Computer Science  
The increasing demand and complexity of these robots have challenged the design of robotic systems, i.e., the software systems that manage robots.  ...  This paper presents ArchSORS, a systematic process that supports the design of software architectures for SORS.  ...  RSA-A 2.2 -Decompose the Robotic Application: Based on the defined model, the robotic application is decomposed into capabilities, which provide a set of functionalities of the SORS.  ... 
doi:10.1007/978-3-319-09970-5_20 fatcat:6qw7euzinbbsbph3nnb4qp22oa
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