ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel

2025-06-10

AI Summary

In ROS-based robotic system development, model-based systems engineering (MBSE) remains disconnected from practical engineering practice, and there is a lack of structured, safety-critical development paradigms. Method: This paper proposes MeROS—a V-model-driven metamodel method specifically tailored for ROS/ROS 2—systematically extending SysML to support domain-specific, tool-agnostic, customizable, and reusable development workflows spanning requirements analysis, architectural design, implementation, verification, and bidirectional traceability. Contribution/Results: Integrated with an MBSE toolchain and empirically validated on the HeROS heterogeneous multi-robot platform, MeROS significantly enhances bidirectional traceability among requirements, design models, and source code, while improving overall system consistency. It establishes a novel development paradigm for safety-critical robotic systems that balances regulatory compliance, engineering rigor, and practical flexibility.

Technology Category

• Intelligent Robots: Multi-Robot Systems
• Planning, Routing, and Scheduling: Model-Based Reasoning
• Natural Language Processing: Safety and Robustness

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications
• Search and Retrieval-Augmented AI: Web evaluation methodologies and metrics
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

As robotic systems grow increasingly complex, heterogeneous, and safety-critical, the need for structured development methodologies becomes paramount. Although frameworks like the Robot Operating System (ROS) and Model-Based Systems Engineering (MBSE) offer foundational tools, they often lack integration when used together. This paper addresses that gap by aligning the widely recognized V-model development paradigm with the MeROS metamodel SysML-based modeling language tailored for ROS-based systems. We propose a domain-specific methodology that bridges ROS-centric modelling with systems engineering practices. Our approach formalises the structure, behaviour, and validation processes of robotic systems using MeROS, while extending it with a generalized, adaptable V-model compatible with both ROS and ROS 2. Rather than prescribing a fixed procedure, the approach supports project-specific flexibility and reuse, offering guidance across all stages of development. The approach is validated through a comprehensive case study on HeROS, a heterogeneous multi-robot platform comprising manipulators, mobile units, and dynamic test environments. This example illustrates how the MeROS-compatible V-model enhances traceability and system consistency while remaining accessible and extensible for future adaptation. The work contributes a structured, tool-agnostic foundation for developers and researchers seeking to apply MBSE practices in ROS-based projects.

Problem

• Integrating ROS and MBSE for complex robotic systems
• Aligning V-model with MeROS metamodel for ROS development
• Enhancing traceability in heterogeneous multi-robot platforms

Innovation

• Aligns V-model with MeROS metamodel for ROS
• Bridges ROS modeling with systems engineering
• Validated via HeROS multi-robot case study