M.G.: A CASE tool for robot behavior development

Abstract. The development of high-level behavior for autonomous robots is a time-consuming task even for experts. This paper presents a Computer-Aided Software Engineering (CASE) tool, named Kouretes Statechart Editor (KSE), which enables the developer to easily specify a desired robot behavior as a statechart model utilizing a variety of base robot functionalities (vision, localization, locomotion, motion skills, communi-cation). A statechart is a compact platform-independent formal model used widely in software engineering for designing software systems. KSE adopts the Agent Systems Engineering Methodology (ASEME) model-driven approach. Thus, KSE guides the developer through a series of de-sign steps within a graphical environment that leads to automatic source code generation. We use KSE for developing the behavior of Aldebaran Nao humanoid robots competing in the Standard Platform League of the RoboCup competition.