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An MDE solution for the development of robotic device drivers

In this paper we explore the concept of utilizing software modeling tools in conjunction with the ROS simulation framework in order to create an executable Statecharts model to control a simulated robot within its environment. We modeled a simple collision avoidance and wandering navigation algorithm utilizing SCXML Statecharts and then used the AToMPM web application to execute these Statecharts. Additionally, we identify several shortcomings and limitations, though the general ease of development and the usability of the final implementation reveal this to be an area that is worth further investigation.