Module Interactions for Model-Driven Engineering of Complex Behaviour of Autonomous Robots
In this paper, the authors describe a model-driven engineering approach that enables the complete description, validation, verification and deployment of behaviour to autonomous robots, directly, and automatically from the models. This realizes the promises and benefits of model-driven engineering, such as platform-independent development and behaviour traceability. However, such a top-down approach of modelling by finite-state machines and sub-machines creates a conceptual challenge to the behaviour designer due to the complex interaction of independent modules. Simply finding which modules are necessary for other modules can be a challenge. They also describe here their solution to this. Interestingly, their approach goes in the opposite direction of Object Oriented Software Engineering as currently represented by the Unified Modeling Language and corresponding software processes.