基于LLM代理的ROS 2系统层次结构架构建模与恢复
Modeling and Recovering Hierarchical Structural Architectures of ROS 2 Systems from Code and Launch Configurations using LLM-based Agents
AI总结：
本文提出基于UML的ROS 2系统层次结构架构建模方法，并结合LLM代理实现从代码和配置文件中自动化恢复架构模型，提升系统可靠性。
摘要：
模型驱动工程（MDE）依赖显式架构模型来跨抽象层次记录和演进系统。对于ROS 2，子系统结构通常隐式编码在分布式配置 artifacts 中--最显著的是启动文件--使得层次结构分解难以捕捉和维护。现有的ROS 2建模方法涵盖了节点级实体和连接，但并未将层次结构（解）构作为第一类架构视图，独立于启动 artifacts。我们贡献（1）一种基于UML的ROS 2系统层次结构架构建模概念，以及（2）一种蓝图引导的自动化恢复流程，通过结合确定性提取与LLM代理，从代码和配置 artifacts 中重建此类模型。ROS 2架构蓝图（节点、主题、接口、启动引起的连接）被编码为结构合同以约束合成并启用确定性验证，提高可靠性。我们在三个ROS 2仓库中评估了该方法，包括一个工业级代码子集。结果表明在各抽象层次的精度较高，而子系统级召回率随着仓库复杂性增加而下降，由于隐式启动语义，使高层次恢复成为剩余挑战。
英文摘要：
Model-Driven Engineering (MDE) relies on explicit architecture models to document and evolve systems across abstraction levels. For ROS~2, subsystem structure is often encoded implicitly in distributed configuration artifacts -- most notably launch files -- making hierarchical structural decomposition hard to capture and maintain. Existing ROS~2 modeling approaches cover node-level entities and wiring, but do not make hierarchical structural (de-)composition a first-class architectural view independent of launch artifacts. We contribute (1) a UML-based modeling concept for hierarchical structural architectures of ROS~2 systems and (2) a blueprint-guided automated recovery pipeline that reconstructs such models from code and configuration artifacts by combining deterministic extraction with LLM-based agents. The ROS~2 architectural blueprint (nodes, topics, interfaces, launch-induced wiring) is encoded as structural contracts to constrain synthesis and enable deterministic validation, improving reliability. We evaluate the approach on three ROS~2 repositories, including an industrial-scale code subset. Results show high precision across abstraction levels, while subsystem-level recall drops with repository complexity due to implicit launch semantics, making high-level recovery the remaining challenge.
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