Abstract
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.
Highlights
The term “Robot” was coined by the Czech writer Karel Capek in 1921 in a science-fiction play
RQ4: How are researchers validating existing model-driven engineering (MDE) approaches for Mobile Robot Systems (MRS)?
Outcome: A map that illustrates how MDE approaches for MRSs have been validated or evaluated
Summary
The term “Robot” was coined by the Czech writer Karel Capek in 1921 in a science-fiction play. Much of this science-fiction has become reality. A robot might be defined as “an intelligent device with a certain degree of autonomy that contains sensors, control systems, manipulators, power supplies and software all working together to perform the required tasks” [1]. We focus on mobile robots, which are robotic systems carried around by locomotive elements and which can operate in various environments (aquatic, aerial, or terrestrial). The operational environment decides the locomotive elements. Robotics comes in many diverse shapes, which are increasingly becoming part of our lives: automated vehicles bring us to work [2] where we cooperate with industrial robots [3] or service robots [4]
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