Related papers: Model-driven engineering approach to design and im…

This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…

In this note, we explore a middle ground between data-driven model reduction and data-driven control. In particular, we use snapshots collected from the system to build reduced models that can be expressed in terms of data. We illustrate…

This paper discusses a model-based approach to testing as a vital part of software development. It argues that an approach using models as central development artifact needs to be added to the portfolio of software engineering techniques,…

With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…

The design of conceptually sound metamodels that embody proper semantics in relation to the application domain is particularly tedious in Model-Driven Engineering. As metamodels define complex relationships between domain concepts, it is…

As robots venture into the real world, they are subject to unmodeled dynamics and disturbances. Traditional model-based control approaches have been proven successful in relatively static and known operating environments. However, when an…

We present a model-based testing approach to support automated test generation with domain-specific concepts. This includes a language expert who is an expert at building test models and domain experts who are experts in the domain of the…

With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…

Model-driven software development is a promising way to cope with the complexity of system integration in advanced robotics, as it already demonstrated its benefits in domains with comparably challenging system integration requirements.…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Component-based software engineering aims to reduce software development effort by reusing established components as building blocks of complex systems. Defining components in general-purpose programming languages restricts their reuse to…

Architecture Definition, which is central to system design, is one of the two most used technical processes in the practice of model-based systems engineering. In this paper a fundamental approach to architecture definition is presented and…

Model-reference adaptive systems refer to a consortium of techniques that guide plants to track desired reference trajectories. Approaches based on theories like Lyapunov, sliding surfaces, and backstepping are typically employed to advise…

Microservices are quite widely impacting on the software industry in recent years. Rapid evolution and continuous deployment represent specific benefits of microservice-based systems, but they may have a significant impact on non-functional…

One of the goals of software design is to model a system in such a way that it is easily understandable. Nowadays the tendency for software development is changing from manual coding to automatic code generation; it is becoming model-based.…

Within this work, we investigate how data-driven numerical approximation methods of the Koopman operator can be used in practical control engineering applications. We refer to the method Extended Dynamic Mode Decomposition (EDMD), which…

Data-driven engineering refers to systematic data collection and processing using machine learning to improve engineering systems. Currently, the implementation of data-driven engineering relies on fundamental data science and software…

Assembly systems constitute one of the most important fields in today industry. In this paper we propose an open distributed architecture for the engineering of evolvable flexible hybrid assembly systems. The proposed architecture is based…

Control code is a concept that is closely related to a frequently occurring practitioner's view on what is a program: code that is capable of controlling the behaviour of some machine. We present a logical approach to explain issues…

When designing autonomous systems, we need to consider multiple trade-offs at various abstraction levels, and the choices of single (hardware and software) components need to be studied jointly. In this work we consider the problem of…