  Software development for robotics applications is a sophisticated endeavor as
robots are inherently complex. Explicit modeling of the architecture and
behavior of robotics application yields many advantages to cope with this
complexity by identifying and separating logically and physically independent
components and by hierarchically structuring the system under development. On
top of component and connector models we propose modeling the requirements on
the behavior of robotics software components using I/O! automata. This approach
facilitates early simulation of requirements model, allows to subject these to
formal analysis and to generate the software from them. In this paper, we
introduce an extension of the architecture description language MontiArc to
model the requirements on components with I/O!automata, which are defined in
the spirit of Martin Glinz Statecharts for requirements modeling [10]. We
furthermore present a case study based on a robotics application generated for
the Lego NXT robotic platform.
