基于MontiArc和嵌入式自动机的机器人系统模型开发实例研究
A Case Study on Model-Based Development of Robotic Systems using MontiArc with Embedded Automata
摘要：
服务机器人的软件开发本质上是复杂的。即使是单个机器人也需要多个传感器、执行器和软件模块的组合。系统通常由领域专家组开发，很少有软件工程专家。因此，最终的软件系统是在单一平台上解决单一问题的单片程序。我们声称，以模块化的方式对机器人的结构和行为进行建模，可以获得更好的可重用软件。我们报告的研究与结构和行为建模语言MontiArcAutomaton的机器人软件的建模。本研究评估的好处和困难，基于模型的机器人软件开发使用MontiArc-Automaton。我们的研究结果是基于一项调查，与参与者的讨论，以及他们发展行为的关键数字。我们提出的项目，我们的研究，经验教训，以及未来的工作的基础上获得的见解
英文摘要：
Software development for service robotics is inherently complex. Even a single robot requires the composition of several sensors, actuators, and software modules. The systems are usually developed by groups of domain experts, rarely software engineering experts. Thus the resulting software systems are monolithic programs solving a single problem on a single platform. We claim modeling of both structure and behavior of robots in a modular way leads to better reusable software. We report on a study about the modeling of robotics software with the structure and behavior modeling language MontiArcAutomaton. This study assesses the benefits and difficulties of model-based robotics software development using MontiArc-Automaton. Our findings are based on a survey, discussions with the participants, and key figures from their development behavior. We present the project, our study, lessons learned, and future work based on the insights gained
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