Abstract
Component-based software is a major design trend in robot software. It brings many benefits to system design, implementation and maintenance. One step in using component-based methods in designing the structure of a robot program is managing the components and the connections between them over time, known as coordination. In this paper we present a framework for coordinating component networks using the OpenRTM-aist software architecture, implemented using the concurrent Erlang language. The framework provides a coordination system that mimics the internal state-change notification system of OpenRTM-aist. Rather than being a fixed- structure coordinator, it allows robot developers to implement a coordinator matching the style of coordination they need. This paper shows that Erlang has potential in robotics.
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Biggs, G., Ando, N., Kotoku, T. (2010). Coordinating Software Components in a Component-Based Architecture for Robotics. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_18
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DOI: https://doi.org/10.1007/978-3-642-17319-6_18
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