Multi-Robot System Architecture design in SysML and BPMN

TL;DR

This paper introduces a modular, formal system engineering approach using SysML and BPMN for designing and simulating multi-robot systems, reducing complexity and enabling technology-agnostic implementation.

Contribution

It presents a novel combination of SysML and BPMN for MRS design, facilitating modular modeling, simulation, and performance evaluation in a formal, technology-independent manner.

Findings

Reduced design complexity through modular modeling

Successful simulation in a multi-agent environment

Performance evaluation of the MRS model

Abstract

Multi-Robot System (MRS) is a complex system that contains many different software and hardware components. This main problem addressed in this article is the MRS design complexity. The proposed solution provides a modular modeling and simulation technique that is based on formal system engineering method, therefore the MRS design complexity is decomposed and reduced. Modeling the MRS has been achieved via two formal Architecture Description Languages (ADLs), which are Systems Modeling Language (SysML) and Business Process Model and Notation (BPMN), to design the system blueprints. By using those abstract design ADLs, the implementation of the project becomes technology agnostic. This allows to transfer the design concept from on programming language to another. During the simulation phase, a multi-agent environment is used to simulate the MRS blueprints. The simulation has been implemented in Java Agent Development (JADE) middleware. Therefore, its results can be used to analysis and verify the proposed MRS model in form of performance evaluation matrix.