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

Ortiz, Francisco J.; Insaurralde, Carlos C.; Alonso, Diego; S�nchez, Francisco; Petillot, Yvan R.

Authors

Francisco J. Ortiz

Diego Alonso

Francisco S�nchez

Yvan R. Petillot



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.

Journal Article Type Article
Acceptance Date Mar 26, 2014
Online Publication Date Apr 29, 2014
Publication Date Oct 1, 2015
Deposit Date Jan 29, 2020
Journal Robotica
Print ISSN 0263-5747
Electronic ISSN 1469-8668
Publisher Cambridge University Press (CUP)
Peer Reviewed Peer Reviewed
Volume 33
Issue 8
Pages 1731-1750
DOI https://doi.org/10.1017/S0263574714001027
Keywords Model-driven software development; Component-oriented software architecture; Design analysis; Autonomous underwater vehicles
Public URL https://uwe-repository.worktribe.com/output/5263756
Publisher URL https://www.cambridge.org/core/journals/robotica/article/modeldriven-analysis-and-design-for-software-development-of-autonomous-underwater-vehicles/579C732FA98ADFC035CCF6F904C708E9