Acknowledging the benefits of the MDD, we proposed an approach B2xkalaim, for easy developing Multi-robot systems, as ROS does not provide any abstractions regarding (agents distribution, communication, coordination, missions design and so on), the idea is to bridge the gap between MRS mission design and execution. I believe that the work you presented could add significant value to our approach.
Thank you for sharing, I also invite you to discover B2xklaim DSL.