A Toolset to Address Variability in Mobile Robotics - Université Clermont Auvergne Accéder directement au contenu
Article Dans Une Revue Journal of Software Engineering for Robotics Année : 2016

A Toolset to Address Variability in Mobile Robotics

Tewfik Ziadi
Mikal Ziane
Selma Kchir
  • Fonction : Auteur
  • PersonId : 956573
Bruno Patin
  • Fonction : Auteur

Résumé

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.
Fichier non déposé

Dates et versions

hal-01353929 , version 1 (16-08-2016)

Identifiants

Citer

Tewfik Ziadi, Jean-Loup Farges, Serge Stinckwich, Mikal Ziane, Saadia Dhouib, et al.. A Toolset to Address Variability in Mobile Robotics. Journal of Software Engineering for Robotics, 2016, 7 (1), pp.20-35. ⟨10.6092/JOSER_2016_07_01_P20⟩. ⟨hal-01353929⟩
408 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More