Comparative evaluation of robotic software integration systems: A case study

Shakhimardanov, Azamat; Prassler, Erwin

doi:10.1109/iros.2007.4399375

Cited by 15 publications

(9 citation statements)

References 13 publications

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“…The output of each stage serves as an input to the proceeding one, thus narrowing the problem to several specific operational situations. Please refer to [11] for further details. With respect to interoperability among frameworks, the second stage consists of identifying a set of refinements directly influencing this quality attribute.…”

Section: Analysis and Evaluationmentioning

confidence: 99%

“…As none of the existing frameworks seems to offer the best, or at least an adequate, solution to all problems to be solved during development, developers very often either stick with their known, but technological constrained frameworks and try to extend it, or start from-scratch developments of completely new frameworks. In both cases, they tend to reinvent the wheel and to waste effort [11]. Usually, they also underachieve their initial goals, end up haunted by hard-to-maintain and hard-to-extend workarounds induced by underlying outdated technology, or have to live with incomplete, immature, and non-robust new developments.…”

Section: Introductionmentioning

confidence: 99%

“…The evaluation is based on a step-wise approach introduced in [11]. Interoperability is first considered on a system-level, then refined in detail on the component-level, through analysing a set of software concepts relevant for component-oriented programming.…”

Section: Introductionmentioning

confidence: 99%

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Component models in robotics software

Shakhimardanov

Hochgeschwender

Kraetzschmar

2010

Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop

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In recent years increased research activity in robotics has led to advancements in both hardware and software technologies. More complex hardware required increasingly sophisticated software infrastructures to operate it, and led to the development of several different robotics software frameworks. The driving forces behind the development of such frameworks is to cope with the heterogeneous and distributed nature of robotics software applications and to exploit more advanced software technologies in the robotics domain. So far, though, there has been not much effort to foster cooperation among these frameworks, neither on conceptual nor on implementation levels. Our research aims to analyse existing robotics software frameworks in order to identify possible levels of interoperability among them. The problem is tackled by determining a set of software concepts, in our case centering around component-based software development, which are used to determine a set of common architectural elements in an analysis of existing robotics software frameworks. The result is that these common elements can be used as interoperability points among software frameworks. Exploiting such interoperability gives developers new architectural design choices and fosters reuse of functionality already developed, albeit in another framework. It is also highly relevant for the development of new robotics software frameworks, as it opens smoother migration paths for developers to switch from one framework to another.

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Section: Analysis and Evaluationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Component models in robotics software

Shakhimardanov

Hochgeschwender

Kraetzschmar

2010

Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop

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“…in [9]. However, [8] was chosen because of the detailed and specific description of the evaluation criteria and rating method.…”

Section: Evaluation Of the Robot Architecturementioning

confidence: 99%

An Architecture for Real-Time Control in Multi-robot Systems

Althoff

Kourakos

Lawitzky

et al. 2009

Cognitive Systems Monographs

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This paper presents a novel robotic architecture that is suitable for modular distributed multi-robot systems. The architecture is based on an interface supporting real-time inter-process communication, which allows simple and highly efficient data exchange between the modules. It allows monitoring of the internal system state and easy logging, thus facilitating the module development. The extension to distributed systems is provided through a communication middleware, which enables fast and transparent exchange of data through the network, although without real-time guarantees. The advantages and disadvantages of the architecture are rated using an existing framework for evaluation of robot architectures.

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“…Middlewares have a major influence on components design and are as such an important part of component-based architectures. The community now benefits from many developments in this area [22], [8], [21], [12]. All existing middlewares are different, provide their own specificity and generally exhibit unique qualities that make them better suited to a particular task or context.…”

Section: Introductionmentioning

confidence: 99%

GenoM3: Building middleware-independent robotic components

Mallet

Pasteur

Herrb

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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The topic of reusable software in robotics is now largely addressed. Components based architectures, where components are independent units that can be reused accross applications, have become more popular. As a consequence, a long list of middlewares and integration tools is available in the community, often in the form of open-source projects. However, these projects are generally self contained with little reuse between them. This paper presents a software engineering approach that intends to grant middleware independance to robotic software components so that a clear separation of concerns is achieved between highly reusable algorithmic parts and integration frameworks. Such a decoupling let middlewares be used interchangeably, while fully benefitting from their specific, individual features. This work has been integrated into a new version of the open-source G en oM component generator tool: G en oM3.

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Comparative evaluation of robotic software integration systems: A case study

Cited by 15 publications

References 13 publications

Component models in robotics software

Component models in robotics software

An Architecture for Real-Time Control in Multi-robot Systems

GenoM3: Building middleware-independent robotic components

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