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Dissertation/Thesis Abstract

CHRIS ROS Modeling: The Foundation for an Autonomous Systems Workbench
by Drumheller, William Royall, M.S., Christopher Newport University, 2020, 111; 28262249
Abstract (Summary)

Robotic (e.g. Robot Operating System - ROS) systems are complex and consist of a number of software components. The integration of these software components, even when the interfaces are heavily documented, can become a daunting task. As part of a typical Software Development Life Cycle, requirements and interfaces change for entire software systems. Model-Integrated Computing (MIC) can be used to manage such complexity as it provides a means for checking system integration. Unfortunately, current MIC tools for ROS systems lack the ability to gather information to create ROS Entity models. This thesis proposes that CHRIS ROS Modeling can help to bridge this gap by capturing a snapshot of an existing ROS-based system during runtime and then fully documenting the system using specific metamodels. With its current functionality, the tool suite forms the foundation for an Autonomous Systems Workbench.

Indexing (document details)
Advisor: Conner, David C.
Commitee: Riedl, Anton, Flores, Roberto, Tolk, Andreas
School: Christopher Newport University
Department: Applied Physis & Computer Science (APCS)
School Location: United States -- Virginia
Source: MAI 82/7(E), Masters Abstracts International
Subjects: Computer science, Robotics, Artificial intelligence, Mechanical engineering, Information Technology, Systems science
Keywords: Autonomous systems, Metamodeling, Model-integrated computing, Robot operating system (ROS), Software development
Publication Number: 28262249
ISBN: 9798569941155
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