|BARDARO GIANLUCA||Cycle: XXXI |
Section: Computer Science and Engineering
Tutor: DANIEL FLORIAN
Advisor: MATTEUCCI MATTEO Major Research topic
:Closing the gap between robot and software: enhancing robot development through models and abstractions Abstract:
Modern robotic systems are a combination of sophisticated software and hardware components and they offer complex functionalities. While (few) popular middlewares which promote component-level reusability, and assist development, exist, there are no established techniques or procedures that use a formal approach to robot system and architecture design yet. This work aims at the long term goal of model-based design and development of complex robot systems (and their software architectures), by surpassing current techniques based on personal expertise and best practices in favor of model-based approaches. Our contribution tackles the problem from the ground up by proposing a way to model ROS nodes, and robotic architectures in general, using the Architecture Analysis and Design Language (AADL) and by deriving, from these models, reusable templates to streamline the design of robotic systems and minimize their development time. From the model, is then possible to exploit automatic code generation to create ready to be deployed architectures. The resulting system is well described using the model and well developed trough automatic code generation and can be used as a base to define an abstraction layer between the physical platform and a development environment defined at higher level.