SafeRobots: A model-driven approach for designing robotic software architectures

In this paper, a model-based framework called `Self Adaptive Framework for Robotic Systems (SafeRobots)' for designing robotic software architectures is proposed. With the help of an example of designing an architecture for mobile robot mapping system, it will be shown how formal domain knowledge can be used at multiple abstraction levels in a model-driven engineering approach. The solution pool for a particular problem is modeled using Solution Space Modeling Language. An eclipse based tool-suite is developed for modeling the solution space and for deriving a concrete operational model by explicitly defining the non-functional properties of the constituent components.