Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-18T22:54:42.591Z Has data issue: false hasContentIssue false
  • English
  • Français

Model-driven analysis and design for software development of autonomous underwater vehicles

Published online by Cambridge University Press:  29 April 2014

Francisco J. Ortiz ,
Carlos C. Insaurralde ,
Diego Alonso ,
Francisco Sánchez  and
Yvan R. Petillot
Francisco J. Ortiz*
Affiliation:
Universidad Politécnica de Cartagena, División de Sistemas e Ingeniería Electrónica. Cartagena, E-30202, Spain
Carlos C. Insaurralde
Affiliation:
Institute of Sensors, Signals and Systems, Ocean Systems Laboratory, Heriot-Watt University, Edinburgh, UK
Diego Alonso
Affiliation:
Universidad Politécnica de Cartagena, División de Sistemas e Ingeniería Electrónica. Cartagena, E-30202, Spain
Francisco Sánchez
Affiliation:
Universidad Politécnica de Cartagena, División de Sistemas e Ingeniería Electrónica. Cartagena, E-30202, Spain
Yvan R. Petillot
Affiliation:
Institute of Sensors, Signals and Systems, Ocean Systems Laboratory, Heriot-Watt University, Edinburgh, UK
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Software engineering plays a key role in state-of-the-art robotics where more effective and efficient software development solutions are needed for implementation and integration of advanced robotics capabilities. Component-based software engineering and model-driven software development are two paradigms suitable to deal with such challenges. This paper presents the analysis, design, and implementation of control software for an Autonomous Underwater Vehicle (AUV). The software development stages are carried out by using a model-driven toolchain that provides support to design and build component-based software for robotics applications. A case study of a high-performance AUV control application and experimental results from a software schedulability analysis are presented.

Keywords

Model-driven software developmentComponent-oriented software architectureDesign analysisAutonomous underwater vehicles
Type
Articles
Information
Robotica , Volume 33 , Issue 8 , October 2015 , pp. 1731 - 1750
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. C-FORGE. Available at: http://www.dsie.upct.es/cforge/ (visited on April 2014).Google Scholar
2. Coste-Manière, E. and Simmons, R., “Architecture, the Backbone of Robotic System,” Proceedings of the IEEE International Conference on Robotics & Automation, San Francisco, CA (2000).Google Scholar
3. Collet, T. H., MacDonald, B. A. and Gerkey, B., “Player 2.0: Toward a practical robot programming framework,” Proceedings of the Australasian Conference on Robotics and Automation (ACRA), Sydney, Australia (Dec. 2005) pp. 27–39.Google Scholar
4. Schmidt, D. C. and Cleeland, C., “Applying patterns to develop extensible ORB middleware,” IEEE Commun. Mag. 37 (4), 54, 63 (1999).Google Scholar
5. Homepage of 7FP EU Project, “BRICS: Best Practice in Robotics,” Available at: http://www.best-of-robotics.org/ (visited on April 2014).Google Scholar
6. Brugali, D. and Scandurra, P., “Component-based robotic engineering. Part I: Reusable building blocks,” IEEE Robot. Autom. Mag. 16 (4), 84–96 (2009).Google Scholar
7. Szyperski, C., Component Software: Beyond Object-Oriented Programming, 2nd ed. (Addison-Wesley, Boston, MA, 2002).Google Scholar
8. Lau, K. and Wang, Z., “Software component models,” IEEE Trans. Softw. Eng 33 (10), 709–724 (Oct. 2007).Google Scholar
9. Alonso, D., Vicente-Chicote, C., Ortiz, F. J., Pastor, J. A. and Álvarez, B., “V3CMM: A 3-view component meta-model for model-driven robotic software development,” J. Softw. Eng. Robot. (JOSER) 1, 3–17 (2010).Google Scholar
10. Mohamed, N., Al-Jaroodi, J. and Jawhar, I., “Middleware for Robotics: A Survey,” Proceedings of The IEEE International Conference on Robotics, Automation, and Mechatronics (RAM), Chengdu, China (Sep. 2008) pp. 736–742.Google Scholar
11. Makarenko, A., Brooks, A. and Daupp, T., “On the Benefits of Making Robotic Software Frameworks Thin,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego CA, USA (Nov. 2007) pp. 167–180.Google Scholar
12. Schlegel, C., Steck, C. and Lotz, A., “Model-driven software development in robotics: Communication patterns as key for a robotics component model,” In: Introduction to Modern Robotics. (online ed.) (iConcept Press, Hong Kong, 2011).Google Scholar
13. Gostai RTC. Available at: http://www.gostai.com/products/rtc/ (visited on April 2014).Google Scholar
14. Ando, N., Suehiro, T., Kitagaki, K., Kotoku, T. and Yoon, W.. “RT-Component Object Model in RT-Middleware – Distributed Component Middleware for RT (Robot Technology),” Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Espoo, Finland (Jun. 2005) pp. 457–462.Google Scholar
15. Song, B., Jung, S., Jang, C. and Kim, S.. “An Introduction to Robot Component Model for OPRoS (Open Platform for Robotic Services),” Workshop Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), Venice, Italy (2008) pp. 592–603.Google Scholar
16. Artist-ESD, 2008–2011. “ArtistDesign – European Network of Excellence on Embedded Systems Design.” Available at: http://www.artist-embedded.org/ (visited on April 2014).Google Scholar
17. OpenEmbeDD, 2008–2011. “OpenEmbeDD project, Model Driven Engineering Open-Source Platform for Real-Time & Embedded Systems.” Available at: http://openembedd.org/home_html (visited on April 2014).Google Scholar
18. Autosar, 2008–2011. “AUTOSAR: Automotive Open System Architecture.” Available at: http://www.autosar.org (visited on April 2014).Google Scholar
19. Singhoff, F., Plantec, A., Dissaux, P. and Legrand, J.. “Investigating the usability of real-time scheduling theory with the Cheddar project,” J. Real Time Syst. 43, 259–295 (2009).Google Scholar
20. US Department of Defense, The Joint Architecture for Unmanned Systems (JAUS) Architecture Framework, II, Vol., Part 1 Reference Architecture Specification (The Pentagon, Arlington County, VA, 2007).Google Scholar