research-article

The BRICS component model: a model-based development paradigm for complex robotics software systems

Authors:

Herman Bruyninckx,

Markus Klotzbücher,

Nico Hochgeschwender,

Gerhard Kraetzschmar,

Davide BrugaliAuthors Info & Claims

SAC '13: Proceedings of the 28th Annual ACM Symposium on Applied Computing

Pages 1758 - 1764

https://doi.org/10.1145/2480362.2480693

Published: 18 March 2013 Publication History

Abstract

Because robotic systems get more complex all the time, developers around the world have, during the last decade, created component-based software frameworks (Orocos, Open-RTM, ROS, OPRoS, SmartSoft) to support the development and reuse of "large grained" pieces of robotics software. This paper introduces the BRICS Component Model (BCM) to provide robotics developers with a set of guidelines, metamodels and tools for structuring as much as possible the development of, both, individual components and component-based architectures, using one or more of the aforementioned software frameworks at the same time, without introducing any framework- or application-specific details. The BCM is built upon two complementary paradigms: the "5Cs" (separation of concerns between the development aspects of Computation, Communication, Coordination, Configuration and Composition) and the meta-modeling approach from Model-Driven Engineering.

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https://dl.acm.org/doi/10.1145/3704737
Predoaia IHarbin JGerasimou SVasiliou CKolovos DGarcía-Domínguez AEgyed AWimmer MChechik MCombemale B(2024)Tree-Based versus Hybrid Graphical-Textual Model Editors: An Empirical Study of Testing SpecificationsProceedings of the ACM/IEEE 27th International Conference on Model Driven Engineering Languages and Systems10.1145/3640310.3674102(80-91)Online publication date: 22-Sep-2024
https://dl.acm.org/doi/10.1145/3640310.3674102
Seidita VChella A(2024)Agents as a Design Paradigm for Robotic Systems Leveraging ROS and GazeboAgents and Robots for reliable Engineered Autonomy10.1007/978-3-031-73180-8_2(21-37)Online publication date: 13-Oct-2024
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Index Terms

The BRICS component model: a model-based development paradigm for complex robotics software systems
1. Information systems
  1. Information systems applications
2. Software and its engineering
  1. Software organization and properties
    1. Software system structures
      1. Software architectures

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cover image ACM Conferences

SAC '13: Proceedings of the 28th Annual ACM Symposium on Applied Computing

March 2013

2124 pages

ISBN:9781450316569

DOI:10.1145/2480362

Conference Chairs:
Sung Y. Shin
South Dakota State University, United States
,
José Carlos Maldonado
ICMC - University of São Paulo, Brazil

Copyright © 2013 ACM.

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Published: 18 March 2013

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Seventh Framework Programme

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SAC '13: SAC '13

March 18 - 22, 2013

Coimbra, Portugal

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SAC '13 Paper Acceptance Rate 255 of 1,063 submissions, 24%;

Overall Acceptance Rate 1,650 of 6,669 submissions, 25%

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Cited By

Banerjee AChoppella V(2025)Control Software Engineering Approaches for Cyber-Physical Systems: A Systematic Mapping StudyACM Transactions on Cyber-Physical Systems10.1145/37047379:1(1-33)Online publication date: 12-Jan-2025
https://dl.acm.org/doi/10.1145/3704737
Predoaia IHarbin JGerasimou SVasiliou CKolovos DGarcía-Domínguez AEgyed AWimmer MChechik MCombemale B(2024)Tree-Based versus Hybrid Graphical-Textual Model Editors: An Empirical Study of Testing SpecificationsProceedings of the ACM/IEEE 27th International Conference on Model Driven Engineering Languages and Systems10.1145/3640310.3674102(80-91)Online publication date: 22-Sep-2024
https://dl.acm.org/doi/10.1145/3640310.3674102
Seidita VChella A(2024)Agents as a Design Paradigm for Robotic Systems Leveraging ROS and GazeboAgents and Robots for reliable Engineered Autonomy10.1007/978-3-031-73180-8_2(21-37)Online publication date: 13-Oct-2024
https://doi.org/10.1007/978-3-031-73180-8_2
Yang SZhang Q(2023)Towards Efficient Robotic Software Development by Reusing Behavior Tree Structures for Task Planning ParadigmsComplex System Modeling and Simulation10.23919/CSMS.2023.00173:4(357-380)Online publication date: Dec-2023
https://doi.org/10.23919/CSMS.2023.0017
Garcia NDeshpande HWu RKahl BWortmann A(2023)Lifting ROS to Model-Driven Development: Lessons Learned from a bottom-up approach2023 IEEE/ACM 5th International Workshop on Robotics Software Engineering (RoSE)10.1109/RoSE59155.2023.00010(31-36)Online publication date: May-2023
https://doi.org/10.1109/RoSE59155.2023.00010
Alberts E(2023)Development and Integration of Self-Adaptation Strategies for Robotics Software2023 IEEE 20th International Conference on Software Architecture Companion (ICSA-C)10.1109/ICSA-C57050.2023.00038(131-136)Online publication date: Mar-2023
https://doi.org/10.1109/ICSA-C57050.2023.00038
Brouzos RPanayiotou KTsardoulias ESymeonidis A(2023)A Low-Code Approach for Connected RobotsJournal of Intelligent & Robotic Systems10.1007/s10846-023-01861-y108:2Online publication date: 19-Jun-2023
https://doi.org/10.1007/s10846-023-01861-y
Panayiotou KTsardoulias EZolotas CSymeonidis APetrou L(2022)A Framework for Rapid Robotic Application Development for Citizen DevelopersSoftware10.3390/software10100041:1(53-79)Online publication date: 3-Mar-2022
https://doi.org/10.3390/software1010004
Hart SQuispe ALanighan MGee S(2022)Generalized Affordance Templates for Mobile Manipulation2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9812082(6240-6246)Online publication date: 23-May-2022
https://doi.org/10.1109/ICRA46639.2022.9812082
Bozhinoski DGarzon Oviedo MHammoudeh Garcia NDeshpande Hvan der Hoorn GTjerngren JWąsowski AHernandez Corbato C(2022)MROS: runtime adaptation for robot control architecturesAdvanced Robotics10.1080/01691864.2022.203976136:11(502-518)Online publication date: 4-Mar-2022
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