The Behavior Developer operates at Composition Tier 3 and can use the task vocabulary, the input-arguments, the output-arguments, and the return values as specified with their semantics by the domain experts in task definitions at Composition Tier 2.

• Architectural Pattern for Task-Plot Coordination (Robotic Behaviors)
• Behavior Developer
• Robotic Behavior Metamodel
• Task Definition Metamodel
• Skill Definition Metamodel
• Skill Realization Metamodel

This document contains material from:

• Schlegel2021 Christian Schlegel, Alex Lotz, Matthias Lutz, Dennis Stampfer. “Composition, Separation of Roles and Model-Driven Approaches as Enabler of a Robotics Software Ecosystem”. Chapter 3 in book Software Engineering for Robotics, Ana Cavalcanti, Jon Timmis, Brijesh Dongol, Rob Hierons, Jim Woodcock (editors), Springer Nature Switzerland, (to appear as Open Access)
• Schlegel2020 Christian Schlegel, Dennis Stampfer, Alex Lotz, Matthias Lutz, “Robot Programming”. Chapter 8 in book Mechatronics and Robotics: New Trends and Challenges, Marina Indri and Roberto Oboe (editors), CRC Press.
• Lutz2017 Matthias Lutz, “Model-Driven Behavior Development for Service Robotic Systems: Bridging the Gap between Software- and Behavior-Models,” 2017. (unpublished work)