Related papers: Model-driven engineering approach to design and im…
Model-driven development is a pragmatic approach to software development that embraces domain-specific languages (DSLs), where models correspond to DSL programs. A distinguishing feature of model-driven development is that clients of a…
In this paper we present the modeling support infrastructure for domain-specific application definition. This consists of a set of meta-models and the associated generators to allow the definition of reusable and domain-specific behavior…
This paper describes first results from the AutoMoDe (Automotive Model-Based Development) project. The overall goal of the project is to develop an integrated methodology for model-based development of automotive control software, based on…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
We consider the problem of classifying trajectories generated by dynamical systems. We investigate a model-based approach, the common approach in control engineering, and a data-driven approach based on Support Vector Machines, a popular…
Architectural monitoring and adaptation allows self-management capabilities of autonomic systems to realize more powerful adaptation steps, which observe and adjust not only parameters but also the software architecture. However, monitoring…
Mathematical models are fundamental building blocks in the design of dynamical control systems. As control systems are becoming increasingly complex and networked, approaches for obtaining such models based on first principles reach their…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that synthesizes model-driven engineering with semantic technologies…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
Models in face of increasing complexity support development of new systems and enterprises. For an efficient procedure, reference models are adapted in order to reach a solution with les overhead which covers all necessary aspects. Here, a…
Software architecture related issues are important for robotic systems. Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades. The objective of…
We consider the basic features of complex dynamical and control systems. Special attention is paid to the problems of synthesis of dynamical models of complex systems, construction of efficient control models, and to the development of…
In model-driven engineering, models abstract the relevant features of software artefacts and model transformations act on them automating complex tasks of the development process. It is, thus, crucially important to provide pragmatic,…
With the increasing number of created and deployed prediction models and the complexity of machine learning workflows we require so called model management systems to support data scientists in their tasks. In this work we describe our…
In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally…