A Multi-Robot Warehouse System: An Exemplar

摘要

The complexity of modelling and designing cyber-physical systems arises due to their heterogeneous components and the need to explicitly model the features of interest for these components from different points of view. To support the modelling of these complex systems, multi-paradigm modelling advocates explicitly modelling every part of a system at the most appropriate level(s) of abstraction. From this perspective, this exemplar paper presents an exemplary application of multi-paradigm modelling on the multi-robot warehouse system to provide architectural, behavioural and operational models. These models demonstrate how multi-paradigm modelling has been applied to model the different system parts at different levels of abstraction, applying different modelling formalisms and notations. This paper aims to provide a reference repository of the collection of models of the multi-robot warehouse case study, which can be accessed and utilized to replicate this system, conduct more future research on this case study, and extend it using other formalisms and modelling approaches.