Abstract
The paper presents the Embodied Agent-based Robot control system modelling Language (EARL). EARL follows a Model-Driven Software Development approach (MDSD), which facilitates robot control system development. It is based on a mathematical method of robot controller specification, employing the concept of an Embodied Agent, and a graphical modelling language: System Modelling Language (SysML). It combines the ease of use of SysML with the precision of mathematical specification of certain aspects of the designed system. It makes the whole system specification effective, from the point of view of the time needed to create it, conciseness of the specification and the possibility of its analysis. By using EARL it is possible to specify systems both with fixed and variable structure. This was achieved by introducing a generalised system model and presenting particular structures of the system in terms of modelling block configurations adapted by using instances. FABRIC framework was created to support the implementation of EARL-based controllers. EARL is compatible with component based robotic middlewares (e.g., ROS and Orocos).
Highlights
Robotic systems become more and more complex due to the incorporation of an increasing number of sensors and effectors as well as the complexity of the executed tasks
A robot controller is created by first producing an Embodied Agent-based Robot control system modelling Language (EARL) based system specification, and it is implemented with the support of FABRIC framework (Section 4)
The introduction to this paper lists some of the other Model-Driven Software Development approach (MDSD) languages used to specify robot controllers: RobotML, SmartSoft, BRICS Component Model (BCM) (BRICS), and V3CMM
Summary
Robotic systems become more and more complex due to the incorporation of an increasing number of sensors and effectors as well as the complexity of the executed tasks. At the core of this problem is the formulation of a robot controller specification method. There is no single solution to those requirements. The literature regarding this subject focuses on best practices in this field [1,2]. The provided set of tips, principles and proposals for structuring and representing the operation of controllers is frequently presented with the help of Model-Driven Software Development (MDSDs) techniques. This representation method helps to effectively implement those principles when constructing a robot controller. In our work we propose EARL MDSD. SysML and the concept of Embodied Agent are introduced, as EARL is based on them
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