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.

翻译：本文提出了一种新颖的方法，用于将业务流程模型与表示法（BPMN）图表转换为可执行的X-Klaim代码，以应用于多机器人系统（MRSs）。通过融合BPMN的清晰性与X-Klaim的操作能力，我们使得用户无需深入了解底层编程语言，即可设计并执行复杂的机器人交互过程。该方法在转换为X-Klaim时保留了BPMN模型的核心设计原则与逻辑，从而提升了MRS应用程序的可读性和可维护性。我们提供了一系列翻译示例，探讨了优化策略，并介绍了自动化转换工具B2XKLAIM。本研究旨在简化MRS编程流程，促进机器人学家与领域专家在设计与实施阶段的协同工作。