Model-Driven Development Architectures to Solve Complex Autonomous Robotics Problems

摘要

In this paper, we discuss model-driven development (MDD) and real-time objected oriented software design paradigms to solve two uninhabited autonomous robotics problems. The first problem we analyze is that of a single robot that has strict timing requirements to perform simultaneous localization and mapping. The second problem we analyze is that of a swarming of flocks of various sizes. Both architectures are discussed and compared for the solution of complex robotics problems. The main contribution of this paper is the definition of an MDD methodology for solving robotics problems, its implementation and validation. Results show that the method can guarantee the real-time requirements for the applications.