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Composable Models and Software for Robotics Systems

Deliverables

Modelling Foundation Guidelines and Meta-Meta-Model Structure - m30

Specification of meta-model structure and static modelling.

Modeling Foundation Guidelines and Meta-Meta-Model Structure

Specification of meta-model structure and static modeling. Updates expected at M18 and M33.

Dissemination Plan and Report – m30

Dissemination plan and report of the project updated within the first month of each year on annual basis. The deliverable reports on activities carried out in tasks T6.1, T6.2, T6.3, T6.4, T6.5 and T6.6. All the consortium members participate to this deliverable.

Reports of Experts Workshops

Documents reporting on Tier-1 Experts workshops related activities: content of the workshops and outcomes. This deliverable is updated on annual basis and it is related to Task T6.5.

Eclipse Project and Eclipse Project Proposal

Deliverable reporting on activities related to the creation of an Eclipse project to host the RobMoSys open-source platform. This deliverable is in link with task Task 6.4. The deliverable will present the proposal for the open-source project in the first year and will be updated on annual basis.

Composable software and tooling for motion, perception and world-model stacks

Document reporting on the final implementation of tooling to help “stack” and task developers use the formal models provided in Task T3.1 and the concrete implementations of Task T3.2, in the maximally composable Model- Driven Engineering methodology developed in WP 2.

Second report on pilot cases

Second report on progress of pilot cases. This document reports on the Pilot Applications to be used by third-parties selected during the second open call.

Business Models for the EcoSystem – m48

Documents reporting on the market analysis pursued in tight collaboration of Tier-1 experts coming from the business world, and taking into account the return of experience of I4MS projects (BEinCPPS, HORSE) and related initiatives as ROBOTT-NET. The market analysis aims at identifying business models for the ecosystem. A special focus will be paid on open-source models. Main contributors to this deliverables are CEA, EFE, EUR and TUM.

Foundation Supporters

List of supporters for a foundation. This deliverable is in link with task T6.3 oriented to generate acceptance within industries and to create a list of supporters for the foundation project, in link with WP7.

Sustainability Plan – m48

Sustainability plan aiming at supporting RobMoSys related activities beyond the end-of-the project. The document is updated on an annual basis. Main contributors are CEA, EUR and EFE. Outcomes of D7.1 and D7.2 will contribute to this deliverable.

Open Call I preparation documents

Call preparation documents: Guide for applicants, Model Contract, Proposal Template, Call Text Draft, Publication plan and Document describing how the recommandations of Tier-1 members are integrated in the scope of the call I. The document will be updated at M7 with the final call text ready for publication (Milestone MS10)

Reports of Experts Workshops – m48

Documents reporting on Tier-1 Experts workshops related activities: content of the workshops and outcomes. This deliverable is updated on annual basis and it is related to Task T6.5.

Full documentation of motion, perception and world model stacks

Document providing the final documentation of the provided software and tooling.

Quality Management Plan

Report on the quality management which contains quality procedures applied in the project to assure the conformity and the quality of all project deliverables with their requirements and to perform assessment. 6-montly updated.

Eclipse Project and Eclipse Project Proposal – m48

Deliverable reporting on activities related to the creation of an Eclipse project to host the RobMoSys open-source platform. This deliverable is in link with task Task 6.4. The deliverable will present the proposal for the open-source project in the first year and will be updated on annual basis.

Business Models for the EcoSystem

Documents reporting on the market analysis pursued in tight collaboration of Tier-1 experts coming from the business world, and taking into account the return of experience of I4MS projects (BEinCPPS, HORSE) and related initiatives as ROBOTT-NET. The market analysis aims at identifying business models for the ecosystem. A special focus will be paid on open-source models. Main contributors to this deliverables are CEA, EFE, EUR and TUM.

Evaluation and selection report for Open Call I

Documents reporting on the evaluation and selection of proposals in the context of the Open Call I. The report includes statistics for Open Call I: number of applicants, number of selected proposals, selection rate, overall considerations.

Evaluation and selection report for Open Call II

Document reporting on the evaluation and selection of proposals in the context of the Open Call II. The report includes statistics for Open Call II: number of applicants, number of selected proposals, selection rate, overall considerations.

Reports of Experts Workshops – m30

Documents reporting on Tier-1 Experts workshops related activities: content of the workshops and outcomes. This deliverable is updated on annual basis and it is related to Task T6.5.

Dissemination Plan

Dissemination plan of the project updated within the first month of each year on annual basis. The deliverable reports on activities carried out in tasks T6.1, T6.2, T6.3, T6.4, T6.5 and T6.6. All the consortium members participate to this deliverable.

Sustainability Plan

Sustainability plan aiming at supporting RobMoSys related activities beyond the end-of-the project. The document is updated on an annual basis. Main contributors are CEA, EUR and EFE. Outcomes of D7.1 and D7.2 will contribute to this deliverable.

Progress Report on Open Call I Experiments

Document reporting on the progress of the experiments selected in the context of call I.

Modeling Foundation Guidelines and Meta-Meta-Model Structure - m18

Specification of meta-model structure and static modeling. Update expected at M33.

Annual Reports

Report on the progress of work from a technical and financial point of view on annual basis. The annual progress report will be updated every year.

Initial preparation of (meta-)models, prototypical DSLs, tools and implementation

Initial preparation of (meta-)models, prototypical Domain Specific Languages (DSLs), tools and implementations as needed as input for the other WPs and for preparing the first wave of open calls (including expertise from related communities).

Sustainability Plan – m30

Sustainability plan aiming at supporting RobMoSys related activities beyond the end-of-the project. The document is updated on an annual basis. Main contributors are CEA, EUR and EFE. Outcomes of D7.1 and D7.2 will contribute to this deliverable.

Improved (meta-)models, prototypical DSLs, tools and implementations

Improved (meta-)models, prototypical DSLs, tools and implementations as needed as in- put for the other WPs and for preparing the second wave of open calls (including intermediate pick-up of results from open call projects in M18, and at their end in M24)

Periodic Progress Reports

Report on the progress of work from a technical and financial point of view. A risk management issues will be included as well. The periodic progress report will be updated every 6 months.

First motion, perception and world-model stacks specifications

Specification of the first motion, perception and world-model stacks for contribution to Call I text for third party funding. The deliverable includes the first version of the models needed in the motion control, perception and world-model stacks.

Final Report on Open Call I Experiments

Document reporting on the experiments selected in the context of call I, this final report includes evaluation and assessment of Open Call I results provided by Robmosys partners and Tier-1 experts.

Final (meta-)models, prototypical DSLs, tools and implementations

Final (meta-)models, prototypical DSLs, tools and implementations including intermediate pick-up of results from open call projects in M39.

Dissemination Plan and Report – m48

Dissemination plan and report of the project updated within the first month of each year on annual basis. The deliverable reports on activities carried out in tasks T6.1, T6.2, T6.3, T6.4, T6.5 and T6.6. All the consortium members participate to this deliverable.

Eclipse Project and Eclipse Project Proposal – m30

Deliverable reporting on activities related to the creation of an Eclipse project to host the RobMoSys open-source platform. This deliverable is in link with task Task 6.4. The deliverable will present the proposal for the open-source project in the first year and will be updated on annual basis.

Tier-1 conclusive remarks and recommendations

Document describing conclusive remarks and recommendations of Tier-1 members at the end of the project about experiments appreciation.

First report on pilot cases

First report on progress of Pilot Cases. This document reports on the design of Pilots including the shared system models and software components.

Open Call II preparation documents

Call preparation documents: Guide for applicants, Model Contract, Proposal Template, Draft of Call Text, Publication plan and Document describing how the recommandations of Tier-1 members are integrated in the scope of the call II. The document will be updated at M28 with the final call text ready for publication (Milestone MS14).

Second motion, perception and world-model stacks specifications

Second motion, perception and world model stacks contributions to Call II text for third party funding. The deliverable includes an improved version of the models needed in the motion control, perception and world-model stacks.

Final report on pilot cases

Final report on pilot cases including a full description of developed applications, the use of the methodology and the lessons learned.

Business Models for the EcoSystem – m30

Documents reporting on the market analysis pursued in tight collaboration of Tier-1 experts coming from the business world, and taking into account the return of experience of I4MS projects (BEinCPPS, HORSE) and related initiatives as ROBOTT-NET. The market analysis aims at identifying business models for the ecosystem. A special focus will be paid on open-source models. Main contributors to this deliverables are CEA, EFE, EUR and TUM.

Final report on Open Call II Experiments

Document reporting on the experiments selected in the context of the Open Call II.This final report includes evaluation and assessment of Open call II results provided by Robmosys partners and Tier-1 experts.

First draft of software and tools for motion, perception and world-model stacks

First draft of software for motion, perception stacks and world-model stacks. The software will conform to the models in D3.1. Improved version of software for motion, perception and world-model stacks in compliance with models included in D3.3. Document reporting on the software tooling provided to help “stack” and task developers use the formal models provided in Task T3.1 and the concrete implementations of Task T3.2, in the maximally composable Model- Driven Engineering methodology developed in WP 2.

Progress report on Open Call II Experiments

Document reporting on the progress of the experiments selected in the context of Open Call II.

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Publications

Model-Based Specification of Control Architectures for Compliant Interaction with the Environment

Author(s): Dennis Leroy Wigand, Niels Dehio, Sebastian Wrede
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 7241-7248
DOI: 10.1109/iros45743.2020.9340718

Assumptions and Guarantees for Composable Models in Papyrus for Robotics

Author(s): Jabier Martinez, Alejandra Ruiz, Ansgar Radermacher and Stefano Tonetta
Published in: 3rd International Workshop on Robotics Software Engineering (RoSE’21), 2021

Conditional Behavior Trees: Definition, Executability, and Applications

Author(s): Eleonora Giunchiglia, Michele Colledanchise, Lorenzo Natale, Armando Tacchella
Published in: 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 2019, Page(s) 1899-1906
DOI: 10.1109/smc.2019.8914358

Specifying QoS Requirements and Capabilities for Component-Based Robot Software

Author(s): Samuel Parra, Sven Schneider and Nico Hochgeschwender
Published in: 3rd International Workshop on Robotics Software Engineering (RoSE’21), 2021

Improving the Parallel Execution of Behavior Trees

Author(s): Michele Colledanchise, Lorenzo Natale
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 7103-7110
DOI: 10.1109/iros.2018.8593504

Power and Energy Communication Services for Control-software Models

Author(s): Reynaldo Cobos Mendez, Douwe Dresscher and Jan Broenink
Published in: 3rd International Workshop on Robotics Software Engineering (RoSE’21), 2021

Act, Perceive, and Plan in Belief Space for Robot Localization

Author(s): Michele Colledanchise, Damiano Malafronte, Lorenzo Natale
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 3763-3769
DOI: 10.1109/icra40945.2020.9197097

System Modes - Digestible System (Re-)Configuration for Robotics

Author(s): Arne Nordmann, Ralph Lange and Francisco Martín Rico
Published in: 3rd International Workshop on Robotics Software Engineering (RoSE’21), 2021

RobMoSys: Towards Composable Models and Software for Robotics Systems

Author(s): Selma Kchir, Matteo Morelli, Chokri Mraidha, Ansgar Rademacher, Sara Tucci-Pergiovanni (CEA)
Published in: Computer Safety, Reliability and Security, Safecomp 2017 Workshops, Issue Safecomp 2017 Workshops, September 12, 2017, 2017, Page(s) 446

Development and Adoption of Model-Based Tools in Robotics

Author(s): Christian Schlegel, Lotz, Alex; Lutz, Matthias; Stampfer, Dennis (Hochschule Ulm)
Published in: Computer-Assisted Engineering for Robotics and Autonomous Systems (Dagstuhl Seminar 17071), Issue Dagstuhl Report, Volume 7, Issue 2, 28.11.2017, 2017, Page(s) 61
DOI: 10.4230/DagRep.7.2.48

Towards the use of Quality-of-Service Metrics in Reinforcement Learning: A robotics example

Author(s): Juan Francisco Inglés-Romero, Juan Manuel Espín, Rubén Jiménez-Andreu, Roberto Font, Cristina Vicente-Chicote
Published in: MORSE - 5th International Workshop on Model-driven Robot Software Engineering (in conjunction with MODELS 2018), 2018

Conditional Behavior Trees: Definition, Executability and Applications

Author(s): Giunchiglia, E., Colledanchise, M., Natale, L., and Tacchella A
Published in: 2019

RoQME: Dealing with Non-Functional Properties through Global Robot QoS Metrics

Author(s): Cristina Vicente-Chicote, Javier Berrocal, José Manuel García-Alonso, Juan Hernández, Antonio Bandera, Jesús Martínez, Adrián Romero-Garcés, Roberto Font, Juan Francisco Inglés-Romero
Published in: 2018
DOI: 11705/jisbd/2018/047

Improving the Parallel Execution of Behavior Trees

Author(s): Colledanchise, Michele; Natale, Lorenzo
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

A Component-Based and Model-Driven Approach to Deal with Non-Functional Properties through Global QoS Metrics

Author(s): Cristina Vicente-Chicote, Juan F. Inglés-Romero, Jesús Martínez, Dennis Stampfer, Alex Lotz, Matthias Lutz, Christian Schlegel.
Published in: ModComp'18 - 5th International Workshop on Interplay of Model-Driven and Component-Based Software Engineering (in conjunction with MODELS 2018), 2018

Towards the Application of Global Quality-of-Service Metrics in Biometric Systems

Author(s): Juan Manuel Espín, Roberto Font, Juan Francisco Inglés-Romero, Cristina Vicente-Chicote:
Published in: IberSPEECH 2018, 2018

Modelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Robotics

Author(s): Jabier Martinez, Alejandra Ruiz, Ainara Garzo, Thierry Keller, Ansgar Radermacher and Stefano Tonetta
Published in: 3rd International Workshop on Robotics Software Engineering (RoSE’21), 2021

Modelado y estimaci´on de m´etricas sobre propiedades no funcionales

Author(s): Cristina Vicente-Chicote, Daniel García-Pérez, Pablo García-Ojeda, Juan F. Inglés-Romero, Juan Adrian Romero-Garcés, and Jesús Martínez
Published in: Conference: XXIV Jornadas de Ingeniería del Software y Bases de Datos (JISBD 2019), 2019

Implementing Resource Adequate Service Robot Behavior by Systematic Management of Non-Functional Properties: An Intralogistics Use Case

Author(s): Timo Blender, Christian Schlegel
Published in: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2020, Page(s) 659-666
DOI: 10.1109/etfa46521.2020.9211986

Analysis and Exploitation of Synchronized Parallel Executions in Behavior Trees

Author(s): Michele Colledanchise, Lorenzo Natale
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 6399-6406
DOI: 10.1109/iros40897.2019.8967812

A Modeling Tool for Reconfigurable Skills in ROS

Author(s): Darko Bozhinoski, Esther Aguado, Carlos Hernández Corbato, Mario Garzon Oviedo, Ricardo Sanz and Andrzej Wasowski
Published in: 3rd International Workshop on Robotics Software Engineering (RoSE’21), 2021

Optimized Execution of PDDL Plans using Behavior Trees

Author(s): Francisco Martín Rico, Matteo Morelli, Huascar Espinoza, Francisco J. Rodríguez Lera and Vicente Matellán Olivera
Published in: 20th International Conference on Autonomous Agents and Multiagent Systems, 2021

The RobMoSys Wiki, which can be found on the project website, comprises all scientific documentation of the project and is accessible to the community in real-time.

Author(s): Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer (all from Hochschule Ulm)
Published in: 2017

“Robot Programming”. Chapter 8 in book Mechatronics and Robotics: New Trends and Challenges, Marina Indri and Roberto Oboe (editors), CRC Press.

Author(s): Christian Schlegel, Dennis Stampfer, Alex Lotz, Matthias Lutz
Published in: Mechatronics and Robotics: New Trends and Challenges, Marina Indri and Roberto Oboe (editors), 2020, Page(s) chapter 8

QoS Metrics-in-the-Loop for Better Robot Navigation

Author(s): Renan Salles De Freitas, Adrián Romero-Garcés, Rebeca Marfil, Cristina Vicente-Chicote, Jesús Martínez-Cruz, Juan F. Inglés-Romero, Antonio Bandera
Published in: Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents (WAF 2020), November 19-20, 2020, Alcalá de Henares, Madrid, Spain, Issue 1285, 2021, Page(s) 94-108
DOI: 10.1007/978-3-030-62579-5_7

Modeling and Estimation of Non-functional Properties: Leveraging the Power of QoS Metrics

Author(s): Cristina Vicente-Chicote, Daniel García-Pérez, Pablo García-Ojeda, Juan F. Inglés-Romero, Adrián Romero-Garcés, Jesús Martínez
Published in: From Bioinspired Systems and Biomedical Applications to Machine Learning - 8th International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2019, Almería, Spain, June 3–7, 2019, Proceedings, Part II, Issue 11487, 2019, Page(s) 380-388
DOI: 10.1007/978-3-030-19651-6_37

Managing Variability as a Means to Promote Composability - A Robotics Perspective

Author(s): Matthias Lutz, Juan F. Inglés-Romero, Dennis Stampfer, Alex Lotz, Cristina Vicente-Chicote, Christian Schlegel
Published in: New Perspectives on Information Systems Modeling and Design, 2019, Page(s) 274-295
DOI: 10.4018/978-1-5225-7271-8.ch012

A Bond-Graph Metamodel: - Physics-Based Interconnection of Software Components

Author(s): Reynaldo Cobos Méndez, Julio de Oliveira Filho, Douwe Dresscher, Jan Broenink
Published in: Formal Aspects of Component Software - 16th International Conference, FACS 2019, Amsterdam, The Netherlands, October 23–25, 2019, Proceedings, Issue 12018, 2020, Page(s) 87-105
DOI: 10.1007/978-3-030-40914-2_5

Measuring Quality of Service in a Robotized Comprehensive Geriatric Assessment Scenario

Author(s): Adrián Romero-Garcés, Jesús Martínez-Cruz, Juan F. Inglés-Romero, Cristina Vicente-Chicote, Rebeca Marfil, Antonio Bandera
Published in: Applied Sciences, Issue 10/18, 2020, Page(s) 6618, ISSN 2076-3417
DOI: 10.3390/app10186618