A Reuse-Oriented Development Process for Component-Based Robotic Systems

Brugali, Davide; Gherardi, Luca; Biziak, A.; Luzzana, Andrea; Zakharov, Alexey

doi:10.1007/978-3-642-34327-8_33

Cited by 30 publications

(18 citation statements)

References 14 publications

(15 reference statements)

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“…The design of a robotic system for robust navigation involves coordination of different tasks, such as path planning, motion control, and sensor data processing. Brugalli et al [5] investigated several development environments to identify existing modules associated with the design of robust navigation functionalities. They realized that modules related to robust navigation typically refer to the same tasks of robotics, but different names are used.…”

Section: Case Studymentioning

confidence: 99%

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RoboSeT: A Tool to Support Cataloging and Discovery of Services for Service-Oriented Robotic Systems

Oliveira

Amaral

Martins

et al. 2015

Communications in Computer and Information Science

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Abstract. Robotics has played an increasingly important role in several sectors of the society. Nowadays, robots are not only used to support activities in factories, but also to assist house cleaning, border surveillance, and even surgeries. The variety of application domains and the rising complexity are challenging the design of robotic systems that control such robots. In this perspective, Service-Oriented Architecture (SOA) has been adopted as a promising architectural style to design large, complex robotic systems in a flexible and reusable manner. Several Service-Oriented Robotic Systems (SORS) have been developed in the recent years and a large number of services are available for reuse. Nevertheless, none of the environments dedicated to the development of SORS provide an efficient mechanism for publishing and discovering services. As a consequence, services for SORS have to be manually searched, reducing significantly the potential of reuse and productivity provided by SOA. This paper presents RoboSeT, a mechanism that supports cataloging and discovery of services for robotic systems. RoboSeT is based on semantic search and classifies the services using a taxonomy of the robotics domain. Results of our case study indicate that RoboSeT facilitates the development of robotic systems, since it presents the potential to widely promote reusability of services for SORS.

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Section: Case Studymentioning

confidence: 99%

“…Currently, the services identified for robust navigation are strongly dependent on MoveBase to start and, therefore, to work properly. However, a study has already demonstrated these services can work independently after a refactoring process [5].…”

Section: Case Studymentioning

confidence: 99%

RoboSeT: A Tool to Support Cataloging and Discovery of Services for Service-Oriented Robotic Systems

Oliveira

Amaral

Martins

et al. 2015

Communications in Computer and Information Science

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“…Recently, a reuse-oriented development process for component-based robotic systems [18] was published following the developed design philosophy using the BRICS Integrated Development Environment (BRIDE) [17], which is a prototypical software tool chain. It includes a graphical user interface to support their approach for robotic system engineering.…”

Section: Related Workmentioning

confidence: 99%

A system integration approach for service-oriented robotics

Ebenhofer

Bauer

Plasch

et al. 2013

2013 IEEE 18th Conference on Emerging Technologies &Amp; Factory Automation (ETFA)

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The robotic system integrator's dream of (re)using existing software components and benefiting from a common software framework for service orchestration becomes more and more evident. Current initiatives tend to promote the own framework or class library and do not put a lot of effort into illustrating how to integrate existing functionality from other frameworks. Within joint projects between industry and scientific partners, we typically face the challenge of having several development teams using different techniques, class libraries and open source frameworks.In this context, we want to present our development approach using 4DIAC development tools and explicitly highlight useful extensions added for a smooth integration of heterogeneous components of various frameworks which is shown by examples.

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“…The final report summarizes the requirements for control systems as: generality, in order to support the largest number of mobile robotics scenarios; open source philosophy, as it allows easy reuse and debug of applications and comparative experiments of different approaches; layered application layout, to organize and encapsulate methods and information, allowing the developer to focus only on the needed part of the system; heterogeneous systems support, for it improves the capabilities of the complete system, as a team of different robots can, in some situations, be more effective in a given task; real-time reconfiguration, in order to add some fault tolerance and flexibility to the system. Besides these topics, the requirements of quality, functionality and procedure are proposed by Brugali [19], [20], [21]. Functionality is the concept of the need for the system's features.…”

Section: Related Workmentioning

confidence: 99%

Development of Distributed Control Architecture for Multi-robot Systems

Lang

Silva

Romero

2014

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

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Abstract-The execution of complex tasks by teams of robots has been widely investigated in the last decades, since many operations are too risky or difficult to be performed by humans or by a single robot. The complexity and variety of applications of mobile robotics make the coordination of teams a big problem, as several topologies of control systems, from simple single processes to large networks with distributed elements that are capable of switching function, may be necessary. Although simple solutions exist, more efficient approaches use distributed communication architectures and components abstraction layers. Available proposals provide many components and interfaces, complicating their understanding and operation. This paper presents a generic control architecture that provides the developer with a small amount of elements implemented safely and on high-performance libraries. The simplicity and modularity of the proposal allow implementation of features such as control of heterogeneous robots, data source and command destination transparency and platform and language independence. The ability to support with reliability, transparency and ease the development of various scenarios of autonomous mobile robotics make the proposed architecture a powerful and valuable tool in the design and operation of these systems.

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A Reuse-Oriented Development Process for Component-Based Robotic Systems

Cited by 30 publications

References 14 publications

RoboSeT: A Tool to Support Cataloging and Discovery of Services for Service-Oriented Robotic Systems

RoboSeT: A Tool to Support Cataloging and Discovery of Services for Service-Oriented Robotic Systems

A system integration approach for service-oriented robotics

Development of Distributed Control Architecture for Multi-robot Systems

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