## 6 Conclusions and Future Work  
Robotic systems which are special cases of embedded real-time systems suffer from the lack of development methods and processes that could systematize and facilitate their development, such as those found in the development of classical software. One of the key and topical issues is the application of software engineering techniques to robotics. One area of software engineering that opens new opportunities is model-driven engineering (MDE) that makes it possible to define Domain Specific Modeling Languages (DSML). In this article, we have addressed the issue of formalization of the description of robotic software architectures. A DSML called RsaML has been proposed for the design of the latter. It takes into account the different categories of robotic software architectures, with the possibility to specify real-time properties when necessary. In order to define this DSML, an analysis of the robotic domain was done and the different categories of software architectures were investigated. This analysis ended with the identification and description of concepts useful for the representation of these architectures. Useful attributes to take into account real-time properties were identified, defined, and integrated into the relevant concepts. A meta-model was proposed to describe robotic software architectures. This meta-model defines the abstract syntax of RsaML. The static semantics of the language were defined and integrated in the meta-model using OCL constraints. These OCL constraints make it possible to verify semantic rules specific to the field of robotics as well as real-time properties. The Eclipse EMF Framework was used to implement the RsaML language and experiments were performed to validate the proposed solution. The comparison with related works shows that RsaML provides several advantages. Unlike solutions proposed in most of the related works, RsaML takes into account the different categories of architectures and the functional and non-functional properties of robotic software systems. By decoupling the representation of software components from that of hardware components, it is possible to define architectures independently of the underlying hardware. This offers the possibility of detailing the actions carrying out the behavior of a software component. This level of granularity increases the maintainability and reusability of the architectures built, and makes communication between experts of the robotic domain easier. RsaML also makes it possible to specify real-time properties of robotic systems, including policy and parameters for tasks' scheduling.  
Future work aims to develop a graphic editor to facilitate the representation of robotic software architectures as well as a model transformation engine, so as to offer a complete chain from modeling to code generation.  
Main idea and conceptualization, V.M.M.; methodology, V.M.M. and L.N.; analysis and design, V.M.M.; software, V.M.M.; validation, V.M.M., L.N. and G.E.K.; resources, V.M.M. and L.N.; writing--original draft preparation, V.M.M.; writing--review and editing, V.M.M., L.N., and G.E.K.; and supervision, L.N. All authors have read and agreed to the published version of the manuscript.  
The APC was funded by the Lab-STICC Laboratory and the Institute of Brest for Numeric and Mathematics (IBNM).  
\begin{table}
\begin{tabular}{l l l l l l l l l} \hline \hline
**Proposals** & **Robotic** & **Behaviour** & **Non-** & **Defines** & **Independent** & **Real-Time Properties** \\  & **Software** & **of the** & **Functional** & **a DSML** & **from** & & \\  & **Architecture** & **Components** & **Properties** & & & **Platform** & \\ \hline  & & & & & & PT & AT & PSP \\ \hline RobotML & x & x & & x & x & x & x & \\ GenoM3 & x & x & & x & x & x & \\ SmartSoft & x & & x & x & x & & \\ BRIDE & x & & & x & x & & \\ RsaML & x & x & x & x & x & x & x & x \\ \hline \hline \end{tabular}
\end{table}
Table 4: Comparison of RsaML with other proposals.