RobotML, a Domain-Specific Language to Design, Simulate and Deploy Robotic Applications

Dhouib, Saadia; Kchir, Selma; Stinckwich, Serge; Ziadi, Tewfik; Ziane, Mikal

doi:10.1007/978-3-642-34327-8_16

Cited by 125 publications

(80 citation statements)

References 5 publications

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“…Either to generate different artifacts like visualization, computational routines and glue code [23], or executable code for different programming languages or software platforms [10,11,25].…”

Section: Discussionmentioning

confidence: 99%

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A Survey on Domain-Specific Languages in Robotics

Nordmann

Hochgeschwender

Wrede

2014

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. The design, simulation and programming of robotics systems is challenging as expertise from multiple domains needs to be integrated conceptually and technically. Domain-specific modeling promises an efficient and flexible concept for developing robotics applications that copes with this challenge. It allows to raise the level of abstraction through the use of specific concepts that are closer to the respective domain concerns and easier to understand and validate. Furthermore, it focuses on increasing the level of automation, e.g. through code generation, to bridge the gap between the modeling and the implementation levels and to improve the efficiency and quality of the software development process. Within this contribution, we survey the literature available on domain-specific (modeling) languages in robotics required to realize a state-of-the-art real-world example from the RoboCup@Work competition. We classify 41 publications in the field as reference for potential DSL users. Furthermore, we analyze these contributions from a DSL-engineering viewpoint and discuss quantitative and qualitative aspects such as the methods and tools used for DSL implementation as well as their documentation status and platform integration. Finally, we conclude with some recommendations for discussion in the robotics programming and simulation community based on the insights gained with this survey.

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Section: Discussionmentioning

confidence: 99%

“…Unfortunately, in the assessed papers very little is written about the process how the abstractions have been identified, e.g. based on an ontology [25], a formalism [16] or a domain analysis [23]. One reason may be that the DSL developers are very often simultaneously also the DSL users and domain experts.…”

mentioning

confidence: 99%

A Survey on Domain-Specific Languages in Robotics

Nordmann

Hochgeschwender

Wrede

2014

Simulation, Modeling, and Programming for Autonomous Robots

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“…In recent years, several model-driven approaches and tools for the development of robotic systems have been proposed, such as OpenRTM [5], Proteus [12], and Smartsoft [19].…”

Section: Variability Modeling Approaches In Roboticsmentioning

confidence: 99%

Managing the Functional Variability of Robotic Perception Systems

Brugali

Hochgeschwender

2017

2017 First IEEE International Conference on Robotic Computing (IRC)

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Abstract-Control systems for autonomous robots are concurrent, distributed, embedded, real-time and data intensive software systems. A real-world robot control system is composed of tens of software components. For each component providing robotic functionality, tens of different implementations may be available.The difficult challenge in robotic system engineering consists in selecting a coherent set of components, which provide the functionality required by the application requirements, taking into account their mutual dependencies. This challenge is exacerbated by the fact that robotics system integrators and application developers are usually not specifically trained in software engineering.Current approaches to variability management in complex software systems consists in explicitly modeling variation points and variants in software architectures in terms of Feature Models.The novel contribution of this paper is the description of the integration of two modeling languages and toolkit, namely HyperFlex [14] for functional variability modeling and the Robot Perception Specification Language (RPSL) [17], a Domainspecific Language (DSL) enabling domain experts to express the architectural variability of robot perception systems.

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“…Current robotics MDE research aims to reduce the complexity of imperative or event-driven programming [17], [18], [19], [20], to describe kinematics, or geometric relations [21], [22], or to model software architectures for robotic systems [2], [3], [23], [24], [25], [26]. These approaches have in common that they target language and tool users from the solution domains, i.e., software developers.…”

Section: Related Workmentioning

confidence: 99%

Modeling robot and world interfaces for reusable tasks

Heim

Nazari

Ringert

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Robotics applications involve robots that perform tasks by interacting with specific worlds. Most applications are intertwined with and tied to fixed robots and worlds. Changes and evolution of a robot or world have an invasive and often unpredictable impact on the application software.We propose making the models of robots and worlds explicit in robotics applications and separate these by introducing application-specific and platform-independent interfaces. This separation allows modular model-driven development of robotics applications and enables the reuse and adaptation of models and applications without need for invasive modifications.We present a framework with a family of modeling languages for conceptual, platform-independent applications, tasks, robots, and worlds. The model-driven RoboTask framework integrates these languages with a runtime architecture to execute robotics tasks using a planner and mappings from conceptual models to actual platforms. This enables a separation of domain concerns from software development concerns and modification of applications without invasive impacts on their separated constituents. We believe that the enabled reuse and adaptation lead to more efficient development and higher quality software for robotics applications.

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RobotML, a Domain-Specific Language to Design, Simulate and Deploy Robotic Applications

Cited by 125 publications

References 5 publications

A Survey on Domain-Specific Languages in Robotics

A Survey on Domain-Specific Languages in Robotics

Managing the Functional Variability of Robotic Perception Systems

Modeling robot and world interfaces for reusable tasks

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