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Updated: Aug 21, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Architectural modelling for robotics: RoboArch and the CorteX example
Will Barnett1, Ana Cavalcanti1, Alvaro Miyazawa1
1Department of Computer Science, University of York, York, United Kingdom.
Abstract:
The need for robotic systems to be verified grows as robots are increasingly used in complex applications with safety implications. Model-driven engineering and domain-specific languages (DSLs) have proven useful in the development of complex systems. RoboChart is a DSL for modelling robot software controllers using state machines and a simple component model. It is distinctive in that it has a formal semantics and support for automated verification. Our work enriches RoboChart with support for modelling architectures and architectural patterns used in the robotics domain. Support is in the shape of an additional DSL, RoboArch, whose primitive concepts encapsulate the notion of a layered architecture and architectural patterns for use in the design of the layers that are only informally described in the literature. A RoboArch model can be used to generate automatically a sketch of a RoboChart model, and the rules for automatic generation define a semantics for RoboArch. Additional patterns can be formalised by extending RoboArch. In this paper, we present RoboArch, and give a perspective of how it can be used in conjunction with CorteX, a software framework developed for the nuclear industry.
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