A Domain-Specific Language for the Development of Heterogeneous Multi-robot Systems
- Resource Type
- Conference
- Authors
- Losvik, Daneil Steen; Rutle, Adrian
- Source
- 2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion (MODELS-C) MODELS-C Model Driven Engineering Languages and Systems Companion (MODELS-C), 2019 ACM/IEEE 22nd International Conference on. :549-558 Sep, 2019
- Subject
- Computing and Processing
model-driven
mdse
domain-specific
dsl
robotics
multi robot
heterogeneous multi-robot system
heterogeneous multi-robot
task definition robotics
- Language
In this paper, we explore how model-driven software engineering can be used in the development of heterogeneous multi-robot systems where we have different robots with different capabilities. Multiple robots can achieve more complex tasks that are impossible to achieve for a single robot alone. We propose a framework where simple actions are used as building blocks to define larger tasks that require multiple robots with different capabilities to achieve. We show how task distribution can be performed in such a system and how the robot operating system can be utilized. We also show how a user interface can be used to define multiple different missions for a team of heterogeneous robots without the need for regeneration of code and redeployment on each robot.