# A Model-Driven Engineering Approach for ROS using Ontological Semantics

arXiv: https://arxiv.org/abs/1601.03998 · HTML: https://mlsanity.com/paper/1601.03998/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Jan 2016.

## Built on by (most cited first, 1 of 1)

- [An Ontology for Unified Modeling of Tasks, Actions, Environments, and Capabilities in Personal Service Robotics](https://mlsanity.com/paper/2509.22434/) (2025)

## Abstract (arXiv)

This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that synthesizes model-driven engineering with semantic technologies to facilitate the development and reuse of ROS-based components and applications. In ReApp, we show how different ontological classification systems for hardware, software, and capabilities help developers in discovering suitable software components for their tasks and in applying them correctly. The proposed model-driven tooling enables developers to work at higher abstraction levels and fosters automatic code generation. It is underpinned by ontologies to minimize discontinuities in the development workflow, with an integrated development environment presenting a seamless interface to the user. First results show the viability and synergy of the selected approach when searching for or developing software with reuse in mind.