JOSER - Journal of Software Engineering for Robotics

The Journal of Software Engineering for Robotics is an open-access, peer-reviewed electronic journal that aims to promote the synergy between Software Engineering and Robotics. It invites both empirical research papers that evaluate the effectiveness of existing Software Engineering approaches and methods in the development of robotic software systems, as well as theoretical contributions that present new Robotics-specific Software Engineering results.

ISSN 2035-3928

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Rule-based Dynamic Safety Monitoring for Mobile Robots

Safety is a key challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. To address the safety challenge, various software-based approaches have been proposed, but none of them provide a clearly specified and isolated safety layer. In this paper, we propose that safety-critical concerns regarding the robot software be explicitly declared separately from the main program, in terms of externally observable properties of the software. Concretely,...

Modeling Electromechanical Aspects of Cyber-Physical Systems

Model-based tools have the potential to significantly improve theprocess of developing novel cyber-physical systems. In this paper, weconsider the question of what language features are needed to modelcyber-physical systems. Using a small, experimental hybrid systemsmodeling language to show how a number of basic and pervasive aspectsof cyber-physical systems can be modeled clearly using the small setof constructs that it provides. We then consider two, more complex,case studies from the do...

A Survey on Domain-specific Modeling and Languages in Robotics

The development of advanced robotic systems is challenging as expertise from multiple domains needs to be integrated conceptually and technically. Model-driven engineering promises an efficient and flexible approach for developing robotics applications that copes with this challenge. Domain-specific modeling allows to describe robotics concerns with concepts and notations closer to the respective problem domain. This raises the level of abstraction and results in models that are easier to und...

Hierarchical Hypergraphs for Knowledge-centric Robot Systems: a Composable Structural Meta Model and its Domain Specific Language NPC4

Many robotics applications rely on graph models in one form or another: perception via probabilistic graphical models such as Bayesian Networks or Factor Graphs; control diagrams and other computational ``function block'' models; software component architectures; Finite State Machines; kinematics and dynamics of actuated mechanical structures; world models and maps; knowledge relationships as ``RDF triples''; etc.In traditional graphs, each edge connects just two nodes, and graphs are ``flat'...

RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages

This paper presents the Robotics Code Generator (RobCoGen), an open source program that can generate an efficient implementation of rigid body dynamics and kinematics algorithms for articulated robots, such as humanoids and manipulators. New Domain Specific Languages (DSLs) for the specification of robot models and coordinate transforms lie at the core of our software. The technology of DSLs and code generation allows users to deal only with high level information (like a robot model), and re...

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