A Toolset to Address Variability in Mobile Robotics

Tewfik Ziadi, Jean-Loup Farges, Serge Stinckwich, Mikal Ziane, Saadia Dhouib, Francois Marmoiton, Nicolas Morette, Cyril Novales, Selma Kchir, Bruno Patin

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.



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