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A model-driving approach to constructing robotic systems
Keywords:
Robotic software system, Software development process, Software engineering, Model driven developmentAbstract
Most robotic systems tend to be complex to maintain and reuse because existing frameworks are based mainly on code-driven approaches. This means the software development process is reduced to the implementation of systems using specific programming languages. During the constant evolution, the systems grow in size and in complexity. Even when these approaches address the needs of robotic focused markets, currently used methodologies and toolsets fail to cope with the needs of such complex software development process. The general objective of our work is the definition of a methodological framework supported by a set of tools to deal with the requirements of the robotic software development process. A major challenge is to make the step from code-driven to model-driven in the development of robotic software systems. Separating robotics knowledge from short-cycled implementation technologies is essential to foster reuse and maintenance.
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References
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[31] Poppa, F.,Zimmer, U.: RobotUI - A software architecture for modular robotics user interface frameworks, 25th
IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012; Vilamoura, Algarve; Portugal; Pages 2571-2576; (October 2012).
[32] Sanchez, P; Alonso, D; Rosique, F; Alvarez, B; Pastor, J; Introducing Safety Requirements Traceability Support in Model-Driven Development of Robotic Applications. Computers, IEEE Transactions on, Issue: 99 (2010)
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[41] Yang, T.-H., Lee, W.-P.: A service-oriented framework for the development of home robots. International Journal of Advanced Robotic Systems; Volume 10, Article number 122; ISSN: 17298806; (February 2013).
[2] Arney, D.; Fischmeister, S.; Lee, I.; Takashima, Y.; Yim, M.;Model-Based Programming of Modular Robots. 13th IEEE International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC), Page(s): 66 – 74 (2010)
[3] Baer, P. A.; Reichle, R.; Zapf, M.; Weise,T.; Geihs, K.; A Generative Approach to the Development of Autonomous Robot Software.EASe ‘07. Fourth IEEE International Workshop on Engineering of Autonomic and Autonomous Systems. (2007)
[4] Barner, S., Geisinger, M., Buckl, C., Knoll, A.: EasyLab: Model-based development of software for mechatronic systems. In: IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications. Beijing, China (2008)
[5] Basu, A.; Bensalem, B.; Bozga, M.; Combaz, J.; Jaber, M.; Nguyen, T.; Sifakis, J.; Rigorous Component-
Based System Design Using the BIP Framework Software, IEEE Volume: 28 , Issue: 3 Page(s): 41 – 48. (2011)
[6] Baumgartl, J., Buchmann,T., Henrich,D., Westfechtel,B.: Towards easy robot programming: Using DSLs, code
generators and software product lines ICSOFT 2013 - Proceedings of the 8th International Joint Conference on Software Technologies 2013, Reykjavik; Iceland; Pages 548-554.. ISBN: 978-989856568-6; (July 2013)
[7] Bell, M., “Introduction to Service-Oriented Modeling”. Service-Oriented Modeling: Service Analysis, Design,
and Architecture. Wiley & Sons. pp. 3. ISBN 978-0-470-14111-3. (2008).
[8] Bell, M., SOA Modeling Patterns for Service-Oriented Discovery and Analysis. Wiley & Sons. pp. 390. ISBN 978-0470481974. (2010)
[9] Biggs, G.; Flexible, adaptable utility components for component-based robot software. Robotics and
Automation (ICRA), 2010 IEEE International Conference on, Page(s): 4615 – 4620. (2010)
[10] Brooks, A., Kaupp, T., Makarenko, A., Oreback, A., Williams, S.: Towards component-based robotics. In:
Proc. of 2005 IEEE/RSJ Int. Conf. on Intellegent Robots and Systems (IROS’05), pp. 163–168. (2005)
[11] Brugali, D.; Scandurra, P.; Component-based robotic engineering (Part I) [Tutorial] Robotics & Automation
Magazine, IEEE Volume: 16 , Issue: 4, Page(s): 84 - 96 (2009)
[12] Brugali, D.; Shakhimardanov, A.; Component-Based Robotic Engineering (Part II) Robotics & Automation
Magazine, IEEE Volume: 17 , Issue: 1 , Page(s): 100 –112. (2010)
[13] Bruyninckx, H., Open robot control software: The OROCOS project. In: Proceedings of 2001 IEEE
International Conference on Robotics and Automation (ICRA’01), vol. 3, pp. 2523–2528. Korea (2001).
[14] CAETI (Centro de Altos Estudios en Tecnología Informática). Robotic projects. http://www.caeti.uai.edu.ar. Access November 1st. 2013.
[15] Cesetti, A.; Scotti, C. P.; Di Buo, G.; Longhi, S.; A Service Oriented Architecture supporting an
autonomous mobile robot for industrial applications Control & Automation (MED), 18th Mediterranean Conference on,Page(s): 604 – 609. (2010)
[16] Dhouib, S., Kchir, S., Stinckwich, S., Ziadi, T., and Ziane,M. RobotMLl, “A domain-specific language to
design, simulate and deploy robotic applications”. In Noda, I., Ando, N., Brugali, D., and Kuffner, J., editors,
Simulation, Modeling, and Programming for Autonomous Robots, vol. 7628 of Lecture Notes in Computer Science, pages 149–160. Springer(2012).
[17] Ebenhofer, G., Bauer, H., Plasch, M., Zambal, S., Akkaladevi, S.C., Pichler, A.: A system integration approach for service-oriented robotics. 2013 IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013; Cagliari; Italy; ISSN: 19460740; (September 2013).
[18] Gerkey, B.P., Vaughan, R.T., Howard, A., Most valuable player: a robot device server for distributed control. In:
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1226–1231. Wailea, Hawaii (2001)
[19] GIRA, Grupo de Investigación en Robótica Autónoma del CAETI: Physical Etoys http://tecnodacta.com.ar/gira/
(last access May 1st, 2013).
[20] Hyun Seung Son, Woo Yeol Kim; Kim, R., Semiautomatic Software Development Based on MDD for
Heterogeneous Multi-joint Robots. In Future Generation Communication and Networking Symposia, FGCNS ‘08. : 2008 , Page(s): 93 – 98 (2008)
[21] Iborra, A.; Caceres, D.; Ortiz, F.; Franco, J.; Palma, P.;Alvarez, B.; Design of Service Robots. Experiences
Using Software Engineering. IEEE Robotics & Automation Magazine 1070-9932/09/ IEEE Page(s): 24– 33. MARCH 2009
[22] Jawawi, D.N.A.; Deris, S.; Mamat, R.; Early-Life Cycle Reuse Approach for Component- Based Software of
Autonomous Mobile Robot System. Software Engineering, Artificial Intelligence, Networking, and Parallel/Distributed Computing, 2008. Ninth ACIS International Conference on, Page(s): 263 – 268. (2008)
[23] Jorges, S.; Kubczak, C.; Pageau, F.; Margaria, T.; Model Driven Design of Reliable Robot Control Programs Using the jABC. Engineering of Autonomic and Autonomous Systems, 2007. EASe ‘07. Fourth IEEE International Workshop on, Page(s): 137-148 (2007)
[24] Jung, E.; Kapoor, C.; Batory, D.; Automatic code generation for actuator interfacing from a declarative
specification Intelligent Robots and Systems, 2005. (IROS 2005). IEEE/RSJ International Conference on.
Page(s): 2839 - 2844 (2005)
[25] Microsoft, “Microsoft robotics developer studio,” 2009,http://msdn.microsoft.com/enus/robotics/default.aspx, visited on March 11th 2009.
[26] Min Yang Jung; Deguet, A.; Kazanzides, P.; A component-based architecture for flexible integration of robotic systems Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, Page(s): 6107 - 6112 (2010)
[27] Nesnas, I., Wright, A., Bajracharya, M., Simmons, R., Estlin, T.: CLARAty and challenges of developing interoperable robotic software. In: Procs of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), vol. 3, pp. 2428–2435 (2003)
[28] OMG Robotics Domain Task Force (Robotics DTF) http://robotics.omg.org/ (access Nov 1st, 2013).
[29]Pons, C., Giandini, R., Pérez, G., “Desarrollo de Software Dirigido por Modelos. Teorías, Metodologías y Herramientas”, Ed: McGraw-Hill Education. ISBN: 978-950-34-0630-4 (2010)
[30] Pons, C., Giandini, R., Arévalo, G., A systematic review of applying modern software engineering techniques to
developing robotic systems. Revista Ingeniería e Investigación Vol. 32 No. 1 (2012)
[31] Poppa, F.,Zimmer, U.: RobotUI - A software architecture for modular robotics user interface frameworks, 25th
IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012; Vilamoura, Algarve; Portugal; Pages 2571-2576; (October 2012).
[32] Sanchez, P; Alonso, D; Rosique, F; Alvarez, B; Pastor, J; Introducing Safety Requirements Traceability Support in Model-Driven Development of Robotic Applications. Computers, IEEE Transactions on, Issue: 99 (2010)
[33] Schlegel, C., Steck, A., Lotz, A., Robotic Software Systems: From Code-Driven to Model-Driven Software
Development. Chapter 23 in Robotic Systems - Applications, Control and Programming, book edited by Ashish Dutta, ISBN 978-953-307-941-7. ( 2012)
[34] SmartSoft. [Online]. Available: http://smartrobotics.sourceforge.net/(2013, Jul.)
[35] Stahl, M Voelter. Model Driven Software Development. John Wiley. (2006)
[36] Steven, K., Juha-Pekka, T., Domain-Specific Modeling. John Wiley &Sons, Inc. 2008. (2008)
[37] Szyperski, C., Component Software: Beyond Object-Oriented Programming. 2nd ed. Addison-Wesley Professional, Boston ISBN 0-201-74572-0 (2002).
[38] Thomas, U., Hirzinger, G., Rumpe, B., Schulze, C., Wortmann, A: A new skill based robot programming language using UML/P Statecharts. Proceedings - IEEE International Conference on Robotics and Automation, ICRA 2013; Germany; Pages 461-466; (May 2013).
[39] Tsai, W.T., Qian Huang, Xin Sun. A Collaborative Service-Oriented Simulation Framework with Microsoft Robotic Studio® Simulation Symposium, ANSS 2008. 41st Annual, Page(s): 263 – 270 (2008)
[40] Wei Hongxing; Duan Xinming; Li Shiyi; Tong Guofeng; Wang T.; A component based design framework for
robot software architecture. Intelligent Robots and Systems, IEEE/RSJ International Conference on, Page(s): 3429 - 3434 (2009).
[41] Yang, T.-H., Lee, W.-P.: A service-oriented framework for the development of home robots. International Journal of Advanced Robotic Systems; Volume 10, Article number 122; ISSN: 17298806; (February 2013).
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Published
2014-04-01
How to Cite
Pons, C., Pérez, G., Giandini, R. S., & Baum, G. A. (2014). A model-driving approach to constructing robotic systems. Journal of Computer Science and Technology, 14(01), p. 1–8. Retrieved from https://journal.info.unlp.edu.ar/JCST/article/view/582
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