Domain-Specific Language Modularization Scheme Applied to a Multi-Arm Robotics Use-Case

  • Dennis Leroy Wigand Technical Faculty, Bielefeld University, Germany
  • Arne Nordmann Corporate Sector Research and Advance Engineering, Robert Bosch GmbH, Germany
  • Niels Dehio Research Institute for Robotics and Process Control, TU Braunschweig, Germany
  • Michael Mistry School of Informatics, University of Edinburgh, Scotland
  • Sebastian Wrede Technical Faculty, Bielefeld University, Germany


The development of robotics systems requires a coherent design, implementation, and integration of multiple domain-specific software artifacts that provide the application-specific capabilities. Model-driven software development (MDSD) provides an efficient methodology that enables the design, integration, and verification of robotics applications already at the level of multiple domain-specific models. While the application of MDSD for the engineering of robotics systems is conceptually promising, the interoperability, composability, and reusability of developed domain-specific languages and resulting models are challenging. In this article, we discuss the requirements for language modularization and composition from a robotics perspective and introduce a language composition approach for component-based robotics systems. We use a state-of-the-art language workbench, which supports reuse, extensibility, and refinement of domain-specific languages and code generators. We present and discuss a case study to evaluate the proposed extension and composition approach from a language developer's perspective as well as from a language user's perspective, i.e. the perspective of the roboticist supported by our set of domain-specific languages.

Author Biography

Dennis Leroy Wigand, Technical Faculty, Bielefeld University, Germany

Dennis Leroy Wigand received his M.Sc. degree in computer science from Bielefeld University, Germany, in 2015.
Afterwards, he joined the \emph{Cognitive Systems Engineering} group at the Bielefeld Institute for Cognition and Robotics (CoR-Lab) as a Ph.D. student.
Dennis Wigand's particular research interest lies in domain-specific system engineering with respect to code generation.
Due to his participation in the EU project CogIMon (Horizon 2020), which aims at a step-change in compliant human-robot interaction, he is particularly focused on the force domain.