Automated generation of robotics applications from simulink and SysML models
Matteo Morelli · 2015
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.