Translating BPMN models into X-Klaim programs for developing multi-robot missions

The development of software for multi-robot systems remains a complex and demanding task, primarily due to the challenges of coordinating interactions among robots while managing low-level implementation details. These complexities can pose significant barriers for non-expert users and hinder effective collaboration between roboticists, domain experts, and stakeholders. To address these issues, we introduce a model-driven development approach for multi-robot systems that leverages BPMN and X-Klaim. The BPMN standard offers an intuitive graphical notation widely adopted in both industry and academia, enabling the design of sophisticated robotic interactions without requiring deep programming expertise. Meanwhile, X-Klaim provides a robust framework for implementing multi-robot behaviors, featuring coordination primitives for both intra- and inter-robot interactions and seamless integration with Java for low-level programming. Our approach combines the clarity of BPMN with the operational power of X-Klaim through an automatic translation of BPMN models into X-Klaim code. We present the B2XKlaim tool, which automates this translation process, and demonstrate its effectiveness through a case study in the e-agriculture domain. Additionally, we discuss potential applications in collaborative, multi-agent robotic space exploration.