Earticle

With the fast development of robot technologies, robots are increasingly operating in complex and unknown environments. Thus, the robotic software systems need to be online reconfigurable to fast meet users’ new demands or environment requirements. In order to improve the online reconfiguration, an innovative way to combine runtime software architecture and robotic development is proposed, and then use model-driven techniques to establish a rigorous and useable abstract architecture meta-model and robotic system meta-model. In order to improve the bidirectional transformation, model difference and merge operations are constructed and proposed. And meanwhile we extending an existing synchronization engine generation tool and makes it adapted to the robot system. Finally, our platform is test with a concrete case study on top of the Microsoft Robotics Developer Studio to further verify its correctness. The result proves this study can effectively improve online reconfiguration of robotic software systems, and architecture model-based online configure makes it can effectively improve the development of different types of robot software architectures, and improves the reusability of the entire development process.