An Extensible Model-Based Framework for Robotics Software Development

In order to promote reuse of software in robotics, standardization, benchmarking, and formalization activities in robotics are being undertaken by many technical working groups and independent agencies. Absence of integrated tools is the real barrier that exists between early adopters of such efforts and early majority of research and industrial community. In this paper, we provide a detailed discussion on how frameworks for designing robotic systems can be formally specified and developed using our meta-framework - SafeRobots. We have demonstrated this process using a mobile robot case study.