Software systems, like physical systems, require explicit architectural descriptions to increase system level comprehension. Developing networked robotic systems of diverse physical assets is a continuing challenge to developers. Problems often multiply when adding new hardware/software artifacts or when reconfiguring existing systems. This work describes a method to create reconfigurable software for Army robotic systems via model-based, graphical domain-specific languages and reusable components. The paradigm makes use of feature models, the basis for product line software that describes and constrains variable aspects of the robotic system’s hardware and associated software. Domain-specific languages use terms understandable to domain engineers and technicians. Users of the modeling environment are able to stay at a high level of abstraction and need not concern themselves with the details of the composed and generated code.