Model-Driven Engineering and Run-Time Model-Usage in Service Robotics

The development of service robots has gained more and more attention over the last years. A major challenge on the way towards industrial-strength service robotic systems is to make the step from code-driven to model-driven engineering. In this work we propose to put models into the focus of the whole life-cycle of robotic systems covering design-time as well as run-time. We describe how to explicate parameters, properties and resource information in the models at design-time and how to take these information into account by the run-time system of the robot to support its decision making process. We underpin our work by an exhaustive real-world example which is completely developed with our tools.