Bachelor and Master Theses

To apply for conducting this thesis, please contact the thesis supervisor(s).
Title: Model-based development of robotic systems utilizing ROS2
Subject: Embedded systems, Robotics, Software engineering, Dependable Aeronautics and aerospace
Level: Advanced
Description:

Software and systems modeling is seen as a means to assist people in the development of said software and systems. ROS2 is a middleware for robotic applications that inherently contains some complexity for understanding and developing efficiently. This thesis is interested in utilizing modeling to aid the ROS2 developer by abstracting away some of the complexity associated with the middleware. To make the solution scalable and applicable for a wider audience we are interested in utilizing standard modeling languages, such as SysML. By describing the architecture of the intended ROS2 implementation in a modeling language we intend for a automatic translation to generate the ROS2 framework. Three use-cases are defined as a configurable single robot system, as well as a decentralized and centralized multi-agent robot system eventually deployed on turtlebots which will define and set the scope for the modelling aspects. 

The foreseen tasks for this thesis are summarized as follows: 

  • 1. Formal description of systems regarding the three use cases  

  • 2. Investigate suitable standard formalisms/languages for describing the ROS2 use cases of interest 

  • 3. Define a mapping between the chosen modeling language and ROS2 middleware 

  • 3a. Define a general procedure to map source models to corresponding ROS2 middleware 

  • 3b. Create an automated mechanism to (partially) implement the proposed general procedure 

  • 4. Define a transformation from the descriptive modeling language to ROS2 

  • 5. Evaluate the proposed method by implementing case studies from the mentioned use-cases

Start date:
End date:
Prerequisites:

This thesis covers a wide scope and therefore can be somewhat tuned for the applicant, but the core work will regard model transformations. Skills in modelling and ROS2 are beneficial for applicants.
IDT supervisors: Lukas Dust
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