A Domain-Specific Language for the Development of Heterogeneous Multi-Robot Systems

Abstract

Robots are becoming more advanced each year and will increasingly become a bigger part of our lives. This thesis explores how model-driven software engineering can be used in the development of heterogeneous multi-robot systems where you have different robots with different capabilities. Multiple robots can achieve more complex tasks that are impossible to achieve for a single robot alone. This thesis proposes a framework where simple actions are used as building blocks to define larger tasks that require multiple robots with different capabilities to achieve. The thesis explores how task distribution can be performed in such a system and how the robot operating system can be utilized. The thesis also explores how a user interface can be used to define multiple different missions for a team of heterogeneous robots without the need for redeployment on each robot.