Hyperflex: A Model Driven Toolchain For Designing And Configuring Software Control Systems For Autonomous Robots

A huge corpus of open source robotic software libraries is available on ROS repositories that can be reused to develop a large variety of robot control systems. The difficult challenge consists in selecting and integrating a coherent set of components that provide the required functionality taking into account their mutual dependencies and architectural mismatches. The HyperFlex approach presented in this chapter enables the explicit representation of robot system architectures, functional variability, and application requirements as software models that can be manipulated by a system configuration engine.