“…As a consequence, both industry and academia have focused their attention on the architectural design of these systems. Studies in the literature have described several architectural assets for guiding the development of robotic system, including reference models (Pires et al, 2011;Rodrigues et al, 2011), reference architectures (Albus, 2002;Clark, 2005;Hayes-Roth et al, 1995;Ortiz et al, 2005;Peters et al, 2000;Weyns and Holvoet, 2006), and design patterns (Fryer et al, 1997). These assets are commonly used with the support of different development approaches, as SPLs (Braga et al, 2011(Braga et al, , 2012aBRICS, 2015), Model-Driven Engineer-ing (MDE) (Iborra et al, 2009;Schlegel et al, 2010), and Component-Based Software Engineering (CBSE) (BRICS, 2015;Iborra et al, 2009).…”