From Diagram to Deployment: Translating BPMN Collaborations into X-Klaim for Efficient Multi-Robot System Programming

This paper introduces a novel method for translating Business Process Model and Notation (BPMN) diagrams into executable X-Klaim code for Multi-Robot Systems (MRSs). Merging the clarity of BPMN with the operational strength of X-Klaim, we enable the design and execution of complex robotic interactions without requiring in-depth knowledge of the underlying programming language from the users. Our approach maintains the BPMN model's core design principles and logic in the translation to X-Klaim, thus enhancing the readability and maintainability of MRS applications. We offer a series of translated examples, address optimization strategies, and introduce the B2XKLAIM tool, which automates the conversion process. This method aims to streamline MRS programming and improve collaboration between roboticists and domain experts throughout the design and implementation stages.