CommonLang: a DSL for defining robot tasks

Robots are becoming more and more complex and heterogeneous; their abilities and domains of usage are increasing exponentially. Programming these robots requires special skills and usually does not follow standard software engineering methodologies. Adhering to modeldriven software engineering principles, definition of robot behaviour is abstracted and represented in models while robot-specific code is generated from these models using code generation. With a robot modelling framework, we can work on a higher abstraction level making the task of programming complex heterogeneous robots more efficient. In this paper, we present such a modelling framework and evaluate its flexibility by extending it with wireless communication functionalities