This page describes how the SmartSoft World and the SmartMDSD Toolchain support Skills for Robotic Behavior.

This description is based on the SmartMDSD Toolchain v3.7.

The SmartMDSD Toolchain supports the developer in modelling skill definitions with an xtext DSL and the accompanying tooling. Skill definitions are modeled in Domain Model repositories projects, along with the other tier 2 models (see example in figure below). The component developer is able to use those definitions to realize the skills.

Using the modeled skill definition, the SmartMDSD Toolchain supports the role of the component developer to realize skills using an xtext DSL and the accompanying tooling. This skill realizations interact with the components and coordinate them using the components coordination interface (parameter, events, activation etc.), see example in figure below.

Example skills for robot navigation, i.e. moverobot and orientaterobot, can be found at:

• Skill Definition: Domain Model repository
• Skill Realization: CDL Component

To see the skill support of the SmartMDSD Toolchain in action, please refer to Robotic Behavior in RobMoSys using Behavior Trees and the SmartMDSD Toolchain (MOOD2be ITP).

• Skills for Robotic Behavior
• Robotic Behavior in RobMoSys using Behavior Trees and the SmartMDSD Toolchain (MOOD2be ITP)
• The SmartMDSD Toolchain can be used together with Groot, a GUI to develop behavior trees.

This document contains material from:

• Lotz2018 Alex Lotz, "Managing Non-Functional Communication Aspects in the Entire Life-Cycle of a Component-Based Robotic Software System", Dissertation, Technische Universität München, München 2018.
• Lutz2017 Matthias Lutz, “Model-Driven Behavior Development for Service Robotic Systems: Bridging the Gap between Software- and Behavior-Models,” 2017. (unpublished work)
• Stampfer2018 Dennis Stampfer, "Contributions to System Composition using a System Design Process driven by Service Definitions for Service Robotics". Dissertation, Technische Universität München, München, Germany, 2018.