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：本文提出了一种将业务流程模型与标注（BPMN）图转换为可执行X-Klaim代码的新方法，适用于多机器人系统（MRS）。通过融合BPMN的清晰性与X-Klaim的操作能力，我们能够在无需用户深入了解底层编程语言的情况下，实现复杂机器人交互的设计与执行。该方法在向X-Klaim转换过程中保留了BPMN模型的核心设计原则与逻辑，从而增强了MRS应用的可读性和可维护性。我们提供了一系列转换示例，探讨了优化策略，并介绍了自动化转换过程的B2XKLAIM工具。该方法旨在简化MRS编程，并在设计与实施阶段促进机器人学家与领域专家之间的协作。