An Extensible Model-based Framework Development Methodology for Robotic Systems

Arunkumar Ramaswamy, Bruno Monsuez, Adriana Tapus


Standardization, benchmarking, and formalization activities are being undertaken by many technical working groups and independent agencies such as, IEEE, ISO, and OMG, to promote Model-Based Software Development in robotics. Absence of integrated tools is the real barrier that exists between early adopters of such efforts and early majority of research and industrial community. The process of developing software frameworks and tools for designing robotic architectures is expensive both in terms of time and effort, and absence of systematic approach may result in ad-hoc designs that are not flexible and reusable. Therefore, within the context of architecture design, software development, and their supporting tools, a coherent practice is required for developing architecture frameworks. We believe that by making architecture meta-framework a point of conformance opens new possibilities for interoperability and knowledge sharing in the architecture and framework communities. In this paper, we tried to make a step in this direction by proposing a common conformance model and by providing a systematic approach that helps in specifying different aspects of software architecture development and their interplay in a framework.

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