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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    Title :

    A Toolset to Address Variability in Mobile Robotics


    Contributors:

    Publication date :

    2016-01-01


    Remarks:

    doi:10.6092/JOSER_2016_07_01_p20



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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