Model-driven design space exploration for multi-robot systems in simulation

Model-driven design space exploration for multi-robot systems in simulation

Multi-robot systems are increasingly deployed to provide services and accomplish missions whose complexity or cost is too high for a single robot to achieve on its own. Although multi-robot systems offer increased reliability via redundancy and enable the execution of more challenging missions, engi...

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Bibliographic Details
Published in:Software and systems modeling Vol. 22; no. 5; pp. 1665 - 1688
Main Authors: Harbin, James, Gerasimou, Simos, Matragkas, Nicholas, Zolotas, Thanos, Calinescu, Radu, Alpizar Santana, Misael
Format: Journal Article
Language:English
Published: Berlin/Heidelberg Springer Berlin Heidelberg 01-10-2023
Springer Nature B.V
Springer Verlag
Subjects:
Automatic
Autonomous underwater vehicles
Compilers
Complexity
Computer Science
Domain specific languages
Engineering Sciences
Information Systems Applications (incl.Internet)
Intelligence
Interpreters
IT in Business
Modelling
Multiple robots
Programming Languages
Programming Techniques
Redundancy
Robotics
Robots
Robustness
Simulation
Software Engineering
Software Engineering/Programming and Operating Systems
Space exploration
Special Section Paper
System reliability
Model-driven engineering
Design-space exploration
Simulation
Multi-robot systems
MRS
MDE
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Summary:Multi-robot systems are increasingly deployed to provide services and accomplish missions whose complexity or cost is too high for a single robot to achieve on its own. Although multi-robot systems offer increased reliability via redundancy and enable the execution of more challenging missions, engineering these systems is very complex. This complexity affects not only the architecture modelling of the robotic team but also the modelling and analysis of the collaborative intelligence enabling the team to complete its mission. Existing approaches for the development of multi-robot applications do not provide a systematic mechanism for capturing these aspects and assessing the robustness of multi-robot systems. We address this gap by introducing ATLAS, a novel model-driven approach supporting the systematic design space exploration and robustness analysis of multi-robot systems in simulation. The ATLAS domain-specific language enables modelling the architecture of the robotic team and its mission and facilitates the specification of the team’s intelligence. We evaluate ATLAS and demonstrate its effectiveness in three simulated case studies: a healthcare Turtlebot-based mission and two unmanned underwater vehicle missions developed using the Gazebo/ROS and MOOS-IvP robotic platforms, respectively.
ISSN:1619-1366
1619-1374
DOI:10.1007/s10270-022-01041-w