Towards component-based robotics

This paper gives an overview of component-based software engineering (CBSE), motivates its application to the field of mobile robotics, and proposes a particular component model. CBSE is an approach to system-building that aims to shift the emphasis from programming to composing systems from a mixtu...

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Bibliographic Details
Main Authors: Brooks, Alex, Kaupp, Tobias, Makarenko, Alexei, Williams, Stefan, Oreback, Anders
Format: Conference Object
Language:English
Published: 2005
Subjects:
Online Access:https://opus4.kobv.de/opus4-fhws/frontdoor/index/index/docId/3246
Description
Summary:This paper gives an overview of component-based software engineering (CBSE), motivates its application to the field of mobile robotics, and proposes a particular component model. CBSE is an approach to system-building that aims to shift the emphasis from programming to composing systems from a mixture of off-the-shelf and custom-built software components. This paper argues that robotics is particularly well-suited for and in need of component-based ideas. Furthermore, now is the right time for their introduction. The paper introduces Orca - an open-source component-based software engineering framework proposed for mobile robotics with an associated repository of free, reusable components for building mobile robotic systems.