The following reading resources are recommended in order to understand SmartSoft and its service-oriented component way of thinking as well as the SmartMDSD Toolchain.
"Model-Driven Software Development in Robotics: Communication Patterns as Key for a Robotics Component Model" [1]
"Model-Driven Software Systems Engineering in Robotics: Covering the Complete Life-Cycle of a Robot" [2]
"Service Robot Control Architectures for Flexible and Robust Real-World Task Execution: Best Practices and Patterns" [3]
"The SmartMDSD Toolchain: An Integrated MDSD Workflow and Integrated Development Environment (IDE) for Robotics Software" [4].
This is the most complete publication about the SmartMDSD Toolchain. It describes all links and steps within the SmartMDSD Toolchain.
A complete list of publications is available at http://www.servicerobotik-ulm.de/drupal/?q=node/15.