Low-Code Data-Aware Programming for Multi-robot Missions: From BPMN to X-Klaim and ROS

Programming multi-robot systems demands orchestrating concurrent agents while reliably exchanging mission data. This paper extends our previous BPMN-to-XKLAIM translation pipeline for multi-robot systems, making it data-aware and low-code, so that mission designers, ideally including non-programmer stakeholders, can specify coordination and data exchange at the BPMN level without writing or manually refining the generated code. We equip BPMN collaboration models with typed data objects and extend the translation rules so that data become XKLAIM tuples that are automatically propagated across tasks and communication events. The resulting XKLAIM code is directly executable on top of ROS without post-generation modifications, so the BPMN model remains the primary artifact edited as the mission evolves. We illustrate the approach in a space-inspired rover-drone scenario, where incremental terrain maps are exchanged online to support dynamic path replanning.