Dealing with variability may be the most serious issue when developing and maintaining robotic systems: it jeopardizes communication between the stakeholders of a robotic system and interoperability between its components. This paper reports on an approach and a toolset to improve both communication and interoperability. The approach relies on an ontology of mobile robotics and on a Domain-Specific Language (DSL) to describe robotic systems with missing parts that are problems that can be completed by third-party solutions. The domain model of the DSL is derived from the conceptual framework of the ontology. Models of robotic systems and scenarios can be defined using a graphical modeling environment and code can be generated for open-source as well as commercial middleware and simulators. A key advantage of the approach is that code can be generated for both simulation platforms and real-world robots. The validation of the approach is illustrated with a landmark-search case study.

(2016). A Toolset to Address Variability in Mobile Robotics [journal article - articolo]. In JOURNAL OF SOFTWARE ENGINEERING IN ROBOTICS. Retrieved from http://hdl.handle.net/10446/87754

A Toolset to Address Variability in Mobile Robotics

2016-01-01

Abstract

Dealing with variability may be the most serious issue when developing and maintaining robotic systems: it jeopardizes communication between the stakeholders of a robotic system and interoperability between its components. This paper reports on an approach and a toolset to improve both communication and interoperability. The approach relies on an ontology of mobile robotics and on a Domain-Specific Language (DSL) to describe robotic systems with missing parts that are problems that can be completed by third-party solutions. The domain model of the DSL is derived from the conceptual framework of the ontology. Models of robotic systems and scenarios can be defined using a graphical modeling environment and code can be generated for open-source as well as commercial middleware and simulators. A key advantage of the approach is that code can be generated for both simulation platforms and real-world robots. The validation of the approach is illustrated with a landmark-search case study.
articolo
2016
Tewfik, Ziadi; Jean Loup Farges, ; Serge, Stinckwich; Mikal, Ziane; Saadia, Dhouib; Francois, Marmoiton; Nicolas, Morette; Cyril, Novales; Selma, Kchi...espandi
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/87754
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