Run-Time Dependency Graph Models for Independently Developed Robotic Software Components

Abstract

Non-functional properties of a system must be parameterized as elemental or compound objects before they can be observed. Dependency objects are entities that encapsulate a distinct system characteristic that is relevant to and influenced by the system’s components and connections. A graph can be drawn where edges represent changes in one or more system-wide properties with software components and communication networks as nodes Dependency graphs are networks of dependencies that emerge from the flow of system-level characteristics, with evidence and business logic controlling them. Functional units are provided by component developers and network experts to describe how the value of a dependency object is transferred across computational or connection nodes. While building or validating a system, run-time dependency graph models for independently developed software components and network connections are integrated, built, and explored. These run-time models are used to graphically and programmatically observe networks of dependencies that emerge from the flow of system-level features. This paper describes the design and engineering anatomy of such a toolchain.

This paper was supported by European Union’s Horizon 2020 research and innovation programme under grant agreement No 732410, project RobMoSys [12], by the German Federal Ministry for Economic Affairs and Energy (BMWi) in the PAiCE programme under grant agreement 01MA17003D, project SeRoNet [18] and by the EFRE Programme Baden-Württemberg 2014-2020 and the MWK Baden-Württemberg (ZAFH Intralogistik) [24].