Towards a Domain Specific Language for a Scene Graph based Robotic World Model
This work addresses the problem of integrating robotic world models into engineering toolchains for robotics developers, but it appears incremental as it builds on the existing RSG approach.
The authors tackled the lack of model-driven engineering support for robotic world models by proposing a novel Domain Specific Language (DSL) based on the Robot Scene Graph (RSG) approach, enabling expression of scene configurations, semantic structures, and computational inputs/outputs.
Robot world model representations are a vital part of robotic applications. However, there is no support for such representations in model-driven engineering tool chains. This work proposes a novel Domain Specific Language (DSL) for robotic world models that are based on the Robot Scene Graph (RSG) approach. The RSG-DSL can express (a) application specific scene configurations, (b) semantic scene structures and (c) inputs and outputs for the computational entities that are loaded into an instance of a world model.