The main characteristic of the ontology is the division between descriptive properties of hardware elements and the executable capabilities. Properties can be device specific, such as the weight of a temperature sensor module, but they can also describe capabilities in more detail, such as the fact that the temperature sensor measures in degrees Celsius. The granularity of the properties is explicitly not firmly defined, since the sensor data and the necessary selfdescriptions are highly domain-specific.

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The Robot Operating System (ROS) offers developers a large number of ready-made packages for developing robot programs. The multitude of packages and the different interfaces or adapters is also the reason why ROS projects often tend to become confusing. Concepts of model-driven software development using a domain-specific modeling language could counteract this and at the same time speed up the development process of such projects. This is investigated by transferring the core concepts from ROS 2 into a graphical programming interface.

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BDL is a modular and extinsible mission planning framework for one or more agents. It can be used to define, deploy and execute missions (tasks) to one or multiple devices. In this repository extensions for interfacing with ROS and ROS2 are provided as well as a plugin for synchronizing multiple agents via barriers. The Framework also provides a simple way to integrate sensors and sensor data by providing a library that allows automatic integration of simple sensors into the system.

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A Web UI to create Instances from the Semantic Web Ontology

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