Abstract
Vital functions of robots are provided by software and software dominance is still growing. Mastering the software complexity is not only a demanding but also indispensable task towards an operational robot. Component based software approaches provide suitable means to master the complexity issue. Nevertheless shareable, distributable and reusable off-the-shelf software components for robotics are still a great dream. One of the reasons is the lack of a software component model taking into account robotics needs. The challenge of component based software approaches for robotic systems is to assist in building a system and to provide a software architecture without enforcing a particular robot architecture.
This paper presents communication primitives as core of a robotics component model. Dynamic wiring of components at run-time is explicitly supported by a separate pattern which tightly interacts with the communication primitives. This makes the major difference to other approaches. Advantages provided are software reuse, improved maintainability and software reconfiguration on-the-fly. The presented approach already proved its fitness in several major projects. The CORBA based implementation is freely available and is maintained and continued as part of the open source project OROCOS [1,9].
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Schlegel, C. (2003). A Component Approach for Robotics Software: Communication Patterns in the OROCOS Context. In: Dillmann, R., Wörn, H., Gockel, T. (eds) Autonome Mobile Systeme 2003. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18986-9_26
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DOI: https://doi.org/10.1007/978-3-642-18986-9_26
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