Distribution of the software across the hardware, communication of components, and how can middleware be used to deal with heterogeneous software. This discipline corresponds to the Section 2.2.4 in the SWEBOK.
In the Functional Design phase, hardware requirements and top-level functionalities are derived based on the scenario definition. Furthermore, top-level functionalities are decomposed and dependencies among them are identified. Also an initial functional design stating which functionalities interact with each other is developed.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applications | Dhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal | 2012 | UML/MOF |
| hochgeschwender2013model | A model-based approach to software deployment in robotics | Hochgeschwender, Nico and Gherardi, Luca and Shakhirmardanov, Azamat and Kraetzschmar, Gerhard K and Brugali, Davide and Bruyninckx, Herman | 2013 | ecore |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-Forge | Ortiz, Francisco J and Alonso, Diego and Rosique, Francisca and S\ anchez-Ledesma, Francisco and Pastor, Juan A | 2014 | unknown |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineering | Schlegel, Christian and Steck, Andreas and Brugali, Davide and Knoll, Alois | 2010 | UML/MOF |
| ramaswamy2017extensible | An Extensible Model-based Framework Development Methodology for Robotic Systems | Ramaswamy, Arunkumar and Monsuez, Bruno and Tapus, Adriana | 2017 |
In the Platform Building phase, the robot hardware is determined. This includes the selection and potential configuration of robot's sensors and actuators meeting the requirements defined in the functional design phase.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| bordignon2011generalized | Generalized programming of modular robots through kinematic configurations | Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh | 2011 | |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and Validation | Gobillot, Nicolas and Lesire, Charles and Doose, David | 2014 | unknown |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 2014 | ecore |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component \& connector systems | Ringert, Jan Oliver and Alexander, Roth and Bernhard, Rumpe and Andreas, Wortmann | 2015 |
In the Capability Building phase, basic and composite components are constructed up to the application-level and constraints for their deployment are specified. This also includes the specification and eventually generation of additional knowledge required for component execution such as knowledge bases and training data.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| aggarwal1994specification | Specification and automated implementation of coordination protocols in distributed controls for flexible manufacturing cells | Aggarwal, Sudhir and Mitra, Sandeep and Jagdale, Sanjay S | 1994 | unknown |
| alonso2010v3cmm | V3cmm: A 3-view component meta-model for model-driven robotic software development | Alonso, Diego and Vicente-Chicote, Cristina and Ortiz, Francisco and Pastor, Juan and Alvarez, Barbara | 2010 | ecore |
| bordignon2011generalized | Generalized programming of modular robots through kinematic configurations | Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh | 2011 | |
| chaki2014model | Model-Driven Verifying Compilation of Synchronous Distributed Applications | Chaki, Sagar and Edmondson, James | 2014 | (E)BNF |
| de2007distributed | Distributed watchpoints: Debugging large multi-robot systems | De Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T | 2007 | (E)BNF |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applications | Dhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal | 2012 | UML/MOF |
| fleury1997g | GenoM: A Tool for the Specification and the Implementation of Operating Modules in a Distributed Robot Architecture | Fleury, Sara and Herrb, Matthieu and Chatila, Raja | 1997 | unknown |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and Validation | Gobillot, Nicolas and Lesire, Charles and Doose, David | 2014 | unknown |
| graves1999distributed | Distributed generic control for multiple types of telerobot | Graves, Alan R and Czarnecki, Chris | 1999 | unknown |
| hochgeschwender2013model | A model-based approach to software deployment in robotics | Hochgeschwender, Nico and Gherardi, Luca and Shakhirmardanov, Azamat and Kraetzschmar, Gerhard K and Brugali, Davide and Bruyninckx, Herman | 2013 | ecore |
| hongxing2009component | A component based design framework for robot software architecture | Hongxing, Wei and Xinming, Duan and Shiyi, Li and Guofeng, Tong and Tianmiao, Wang | 2009 | (E)BNF |
| mallet2002specification | A specification of generic robotics software components: future evolutions of G en o M in the Orocos context | Mallet, Anthony and Fleury, Sara and Bruyninckx, Herman | 2002 | (E)BNF |
| mallet2010genom3 | GenoM3: Building middleware-independent robotic components | Mallet, Anthony and Pasteur, C\ edric and Herrb, Matthieu and Lemaignan, S\ everin and Ingrand, F\ elix | 2010 | unknown |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 2014 | ecore |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-Forge | Ortiz, Francisco J and Alonso, Diego and Rosique, Francisca and S\ anchez-Ledesma, Francisco and Pastor, Juan A | 2014 | unknown |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineering | Schlegel, Christian and Steck, Andreas and Brugali, Davide and Knoll, Alois | 2010 | UML/MOF |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component \& connector systems | Ringert, Jan Oliver and Alexander, Roth and Bernhard, Rumpe and Andreas, Wortmann | 2015 |
In the System Deployment phase, top-level component(s) are packaged into a complete application system which defines a mapping of components and composites to computational units. Furthermore, features and procedures for system launch management are developed.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| alonso2010v3cmm | V3cmm: A 3-view component meta-model for model-driven robotic software development | Alonso, Diego and Vicente-Chicote, Cristina and Ortiz, Francisco and Pastor, Juan and Alvarez, Barbara | 2010 | ecore |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applications | Dhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal | 2012 | UML/MOF |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and Validation | Gobillot, Nicolas and Lesire, Charles and Doose, David | 2014 | unknown |
| hochgeschwender2013model | A model-based approach to software deployment in robotics | Hochgeschwender, Nico and Gherardi, Luca and Shakhirmardanov, Azamat and Kraetzschmar, Gerhard K and Brugali, Davide and Bruyninckx, Herman | 2013 | ecore |
| mallet2002specification | A specification of generic robotics software components: future evolutions of G en o M in the Orocos context | Mallet, Anthony and Fleury, Sara and Bruyninckx, Herman | 2002 | (E)BNF |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 2014 | ecore |
| ortiz2014component | A Component-Based Meta-Model and Framework in the Model Driven Toolchain C-Forge | Ortiz, Francisco J and Alonso, Diego and Rosique, Francisca and S\ anchez-Ledesma, Francisco and Pastor, Juan A | 2014 | unknown |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineering | Schlegel, Christian and Steck, Andreas and Brugali, Davide and Knoll, Alois | 2010 | UML/MOF |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component \& connector systems | Ringert, Jan Oliver and Alexander, Roth and Bernhard, Rumpe and Andreas, Wortmann | 2015 |
In the System Benchmarking phase, certain test procedures targeting different quality attributes are performed such as stress testing, safety and security testing, reliability and durability testing, and performance testing.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| de2007distributed | Distributed watchpoints: Debugging large multi-robot systems | De Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T | 2007 | (E)BNF |
In the Product Maintenance phase, the robot application is operated and maintained. This includes eventually the analysis of log files and the tuning of system parameters.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| de2007distributed | Distributed watchpoints: Debugging large multi-robot systems | De Rosa, Michael and Campbell, Jason and Pillai, Padmanabhan and Goldstein, S and Lee, Peter and Mowry, T | 2007 | (E)BNF |
An important DSL is missing? Here is how to contribute! When using content of the Robotics DSL Zoo or referring to it, pleace consider citing our survey paper:
@article{nordmann2016survey,
author = {Nordmann, Arne and Hochgeschwender, Nico and Wigand, Dennis Leroy and Wrede, Sebastian},
journal = {Journal of Software Engineering in Robotics (JOSER)},
number = {1},
pages = {75--99},
title = {{A Survey on Domain-Specific Modeling and Languages in Robotics}},
volume = {7},
year = {2016},
}