Modeling and performance estimation of robotic systems using ROS: application to drone-based services

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URI: http://hdl.handle.net/10902/22939
ISBN: 978-1-6654-1825-6
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Merino Calleja, JavierAutoridad Unican; Gómez Varela, RaúlAutoridad Unican; Posadas Cobo, HéctorAutoridad Unican; Villar Bonet, Eugenio, 1957-Autoridad Unican
Fecha
2021-10
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© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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24th Forum on specification & Design Languages (FDL), Antibes (France), 2021
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Institute of Electrical and Electronics Engineers, Inc.
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Resumen/Abstract
Smart Robots are an integral part of the 4th Industrial Revolution. Its integration as essential components in robot-based services is not straightforward. Each robot is a cyber-physical system (CPS) where a mechanical part operates under the control of a digital board(s). Modeling and simulation of such devices has specificities to be taken into account. Model-Driven Design (MDD) has proven to be a powerful System Engineering methodology able to cope with the complexity of services built as a system of CPSs (CPSoS). In this paper, a methodology is proposed to seamlessly integrate robots into a MDD framework so that the whole service can be simulated and its performance, analyzed. Although the methodology is valid for robots in general, it has been assessed on a drone-based service.
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