Model-driven analysis and design for software development of autonomous underwater vehicles

Francisco J. Ortiz, Carlos C. Insaurralde, Diego Alonso, Francisco Sánchez, Yvan Petillot

Research output: Contribution to journalArticle

6 Citations (Scopus)
136 Downloads (Pure)

Abstract

Software engineering plays a key role in state-of-the-art robotics where more effective and efficient software development solutions are needed for implementation and integration of advanced robotics capabilities. Component-based software engineering and model-driven software development are two paradigms suitable to deal with such challenges. This paper presents the analysis, design, and implementation of control software for an Autonomous Underwater Vehicle (AUV). The software development stages are carried out by using a model-driven toolchain that provides support to design and build component-based software for robotics applications. A case study of a high-performance AUV control application and experimental results from a software schedulability analysis are presented.

Original languageEnglish
Pages (from-to)1731-1750
Number of pages20
JournalRobotica
Volume33
Issue number8
Early online date29 Apr 2014
DOIs
Publication statusPublished - Oct 2015

Keywords

  • Autonomous underwater vehicles
  • Component-oriented software architecture
  • Design analysis
  • Model-driven software development

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Software
  • Mathematics(all)

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