Code Generator Composition for Model-Driven Engineering of Robotics Component & Connector Systems

Engineering software for robotics applications requires multidomain and application-specific solutions. Model-driven engineering and modeling language integration provide means for developing specialized, yet reusable models of robotics software architectures. Code generators transform these platform independent models into executable code specific to robotic platforms. Generative software engineering for multidomain applications requires not only the integration of modeling languages but also the integration of validation mechanisms and code generators. In this paper we sketch a conceptual model for code generator composition and show an instantiation of this model in the MontiArc- Automaton framework. MontiArcAutomaton allows modeling software architectures as component and connector models with different component behavior modeling languages. Effective means for code generator integration are a necessity for the post hoc integration of applicationspecific languages in model-based robotics software engineering.Comment: 12 pages, 4 figures, In: Proceedings of the 1st International Workshop on Model-Driven Robot Software Engineering (MORSE 2014), York, Great Britain, Volume 1319 of CEUR Workshop Proceedings, 201

Engineering a ROVER language in GEMOC STUDIO & MONTICORE: A comparison of language reuse support

Domain-specific languages (DSLs) improve engineering productivity through powerful abstractions and automation. To support the development of DSLs, the software language engineering (SLE) community has produced various solutions for the systematic engineering of DSLs that manifest in language workbenches. In this paper, we investigate the applicability of the language workbenches GEMOC STUDIO and MONTICORE to the MDETools’17 ROVER challenge. To this effect, we refine the challenge’s requirements and show how GEMOC STUDIO and MONTICORE can be leveraged to engineer a Rover-specific DSL by reusing existing DSLs and tooling of GEMOC STUDIO and MONTICORE. Through this, we reflect on the SLE state of the art, detail capabilities of the two workbenches focusing particularly on language reuse support, and sketch how modelers can approach ROVER programming with modern modeling tools

Model-driven engineering for mobile robotic systems: a systematic mapping study

Mobile robots operate in various environments (e.g. aquatic, aerial, or terrestrial), they come in many diverse shapes and they are increasingly becoming parts of our lives. The successful engineering of mobile robotics systems demands the interdisciplinary collaboration of experts from different domains, such as mechanical and electrical engineering, artificial intelligence, and systems engineering. Research and industry have tried to tackle this heterogeneity by proposing a multitude of model-driven solutions to engineer the software of mobile robotics systems. However, there is no systematic study of the state of the art in model-driven engineering (MDE) for mobile robotics systems that could guide research or practitioners in finding model-driven solutions and tools to efficiently engineer mobile robotics systems. The paper is contributing to this direction by providing a map of software engineering research in MDE that investigates (1) which types of robots are supported by existing MDE approaches, (2) the types and characteristics of MRSs that are engineered using MDE approaches, (3) a description of how MDE approaches support the engineering of MRSs, (4) how existing MDE approaches are validated, and (5) how tools support existing MDE approaches. We also provide a replication package to assess, extend, and/or replicate the study. The results of this work and the highlighted challenges can guide researchers and practitioners from robotics and software engineering through the research landscape

Language and Code Generator Composition for Model-Driven Engineering of Robotics Component & Connector Systems

Engineering software for robotics applications requires multi-domain solutions. Model-driven development (MDD) promises efficient means for developing domain-specific and reusable models of robotics software. Code generators transform these models into executable code for specific robotic platforms. Robotics is heterogeneous and robotics applications pose various challenges to leveraging the potential of MDD. Combinations of modeling languages and platforms are often problem-specific. Generative software development for multi-domain applications requires both the effective integration of modeling languages and composition of code generators. We present the extensible MontiArcAutomaton architecture modeling framework for the generative development of robotics applications with a strong focus on language integration and generator composition. Its core modeling language is a component & connector architecture description language that can be extended with problem-specific component behavior modeling languages. We present how MontiArcAutomaton supports syntactic and semantic behavior modeling language integration to describe component behavior in most suitable modeling languages and code generator composition to synthesize code from integrated models. We sketch a process for model-driven development of robotics applications using MontiArcAutomaton