A Domain-Specific Language for the Development of Heterogeneous Multi-robot Systems

In this paper, we explore how model-driven software engineering can be used in the development of heterogeneous multi-robot systems where we have different robots with different capabilities. Multiple robots can achieve more complex tasks that are impossible to achieve for a single robot alone. We propose a framework where simple actions are used as building blocks to define larger tasks that require multiple robots with different capabilities to achieve. We show how task distribution can be performed in such a system and how the robot operating system can be utilized. We also show how a user interface can be used to define multiple different missions for a team of heterogeneous robots without the need for regeneration of code and redeployment on each robot.

I. Introduction

As robots are becoming more complex and able to perform more complex tasks, they will increasingly become a bigger part of our lives. In the recent past, robots have mainly been used for repetitive tasks in manufacturing like building cars and electronic components on fully automated production lines. Today, robots are becoming increasingly more used to complete everyday tasks and assist humans, like cleaning the house and mowing the lawn. As robots are becoming more advanced, it becomes more relevant to research cooperative multi-robot systems; i.e., applications that involve multiple robots working together.