Automated generation of robotics applications from simulink and SysML models

Abstract

Models are used in control domains to improve the quality of the system and its development process by early validation and verification, using simulation or model-checking. Robotic middlewares, such as Orocos-RTT, provide the infrastructure to execute component-based applications and abstract the functionality from the computing platform, but are hardly integrated in a model-based flow with automatic code generation. Control algorithms can be specified and designed using synchronous models (Simulink), but with the limitation that the code can only be executed in a single core. We propose a model-driven approach and tool support to specify the execution platform, the software and message implementation of synchronous models, and a semanticspreserving deployment on Orocos-RTT with the automatic generation of glue code.