CorteX: A Software Framework for Interoperable, Plug-and-Play, Distributed, Robotic Systems of Systems

2020 ◽  
pp. 295-344
Author(s):  
Ipek Caliskanelli ◽  
Matthew Goodliffe ◽  
Craig Whiffin ◽  
Michail Xymitoulias ◽  
Edward Whittaker ◽  
...  
Keyword(s):  
Robotic Systems ◽  
Software Framework ◽  
Plug And Play ◽  
Systems Of Systems

The robot software framework ArmarX

2015 ◽  
Vol 57 (2) ◽  
Author(s):  
Nikolaus Vahrenkamp ◽  
Mirko Wächter ◽  
Manfred Kröhnert ◽  
Kai Welke ◽  
Tamim Asfour
Keyword(s):  
User Interfaces ◽  
Development Process ◽  
Humanoid Robots ◽  
Robotic Systems ◽  
Software Systems ◽  
Software Framework ◽  
Programming Environment ◽  
Robot Architecture ◽  
Pick And Place ◽  
Place Task

AbstractWith ArmarX we introduce a robot programming environment that has been developed in order to ease the realization of higher level capabilities needed by complex robotic systems such as humanoid robots. ArmarX is built upon the idea that consistent disclosure of the system state strongly facilitates the development process of distributed robot applications. We show the applicability of ArmarX by introducing a robot architecture for a humanoid system and discuss essential aspects based on an exemplary pick and place task. With several tools that are provided by the ArmarX framework, such as graphical user interfaces (GUI) or statechart editors, the programmer is enabled to efficiently build and inspect component based robotics software systems.

scholarly journals Applying MDE to ROS Systems: A Comparative Analysis

2021 ◽  
Vol 31 (1) ◽  
pp. 111-144
Author(s):  
Mickael Trezzy ◽  
◽  
Ileana Ober ◽  
Iulian Ober ◽  
Raquel Oliveira ◽  
...  
Keyword(s):  
Formal Methods ◽  
Robotic Systems ◽  
Domain Specific Language ◽  
Software Framework ◽  
Model Driven Engineering ◽  
Robot Operating System ◽  
Model Driven ◽  
Domain Specific ◽  
Uml Modeling ◽  
Verification Methods

The Robot Operating System (ROS) is one of the most used software framework to develop robot applications. Although it is possible to reuse packages and code from other ROS projects, ROS applications remain low level and reasoning at a higher level of abstraction is not possible. Using Model-Driven Engineering (MDE) in the context of ROS applications would allow to increase the accessibility of ROS, leverage the reusability of packages and supply validation of the software earlier in the design, using formal methods. For instance, formal verification methods would improve the overall dependability of robotic systems. Our view is that we should increase the abstraction of the systems through models using MDE methodology in order to enable the use of formal methods on ROS applications. In this paper we do a first step toward this and propose a comparative study of existing modeling alternatives aiming to help roboticists to smoothly adopt MDE. This study compares the use of modeling in ROS systems in three different ways: by means of direct UML modeling, a ROS UML profile and a ROS Domain-Specific Language. That allows us to pick the solution that better fits our needs.

Systems of Systems Paradigm in a Hospital Environment: Benefits for Requirements Elicitation Process

2014 ◽  
Vol 9 (10) ◽  
pp. 1798 ◽  
Author(s):  
Farid Lahboube ◽  
Saida Haidrar ◽  
Ounsa Roudiès ◽  
Nissrine Souissi ◽  
Anwar Adil
Keyword(s):  
Requirements Elicitation ◽  
Hospital Environment ◽  
Systems Of Systems ◽  
Elicitation Process

Spacecraft Proximity Operation Emulation Using Ground Robotic Systems

2010 ◽  
Author(s):  
Manoranjan Majji ◽  
Jeremy Davis ◽  
James Doebbler ◽  
James Turner ◽  
John Junkins ◽  
...  
Keyword(s):  
Robotic Systems
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