Modeling and Performance Estimation of Robotic Systems using ROS: Application to drone-based Services

Smart Robots are an integral part of the 4th Industrial Revolution. Its integration as essential components in robot-based services is not straightforward. Each robot is a cyber-physical system (CPS) where a mechanical part operates under the control of a digital board(s). Modeling and simulation of such devices has specificities to be taken into account. Model-Driven Design (MDD) has proven to be a powerful System Engineering methodology able to cope with the complexity of services built as a system of CPSs (CPSoS). In this paper, a methodology is proposed to seamlessly integrate robots into a MDD framework so that the whole service can be simulated and its performance, analyzed. Although the methodology is valid for robots in general, it has been assessed on a drone-based service.