UML-Based Service Robot Software Development: A Case Study

Abstract

Service robots have been suggested for a growing number of applications. A service robot is a complex system as it includes various technical components (i.e., hardware and software) to be integrated correctly and many different research groups to develop the components. As a result, it is not only essential to develop complex algorithms or technical components, but also to integrate them adequately and correctly to provide the various robot services. In the paper, we have presented our case study where we developed the autonomous navigation system for the intelligent service robot for the elderly, T-Rot. The object-oriented method for real-time embedded systems, COMET has been applied to the service robot TRot with the industry standard UML. It makes it possible to reconcile specific engineering techniques like robot technologies with the UML notation and furthermore to fit such techniques into a fully defined development process towards developing the service robot