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

  • Davide Brugali
  • Luca Gherardi
  • A. Biziak
  • Andrea Luzzana
  • Alexey Zakharov
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7628)

Abstract

State of the art in robot software development mostly relies on class library reuse and only to a limited extent to component-based design. In the BRICS project we have defined a software development process that is based on the two most recent and promising approaches to software reuse, i.e. Software Product Line (SPL) and Model-Driven Engineering (MDE). The aim of this paper is to illustrate the whole software development process that we have defined for developing flexible and reusable component-based robotics libraries, to exemplify it with the case study of robust navigation functionality, and to present the software tools that we have developed for supporting the proposed process.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
  2. 2.
    Brugali, D., Nowak, W., Gherardi, L., Zakharov, A., Prassler, E.: Component-based refactoring of motion planning libraries. In: IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), pp. 4042–4049 (2010)Google Scholar
  3. 3.
    Brugali, D., Scandurra, P.: Component-based robotic engineering (part i)[tutorial]. IEEE Robotics & Automation Magazine 16(4), 84–96 (2009)CrossRefGoogle Scholar
  4. 4.
    Brugali, D., Shakhimardanov, A.: Component-based robotic engineering (part ii)[tutorial]. IEEE Robotics & Automation Magazine 17(1), 100–112 (2010)CrossRefGoogle Scholar
  5. 5.
    Clements, P., Northrop, L.: Software Product Lines: Practices and Patterns. Addison-Wesley (2002)Google Scholar
  6. 6.
    Demeyer, S., Ducasse, S., Nierstrasz, O.: Object-oriented reengineering patterns. Morgan Kaufmann (2008)Google Scholar
  7. 7.
    Fowler, M., Beck, K.: Refactoring: improving the design of existing code. Addison-Wesley Professional (1999)Google Scholar
  8. 8.
    Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Robotics & Automation Magazine 4(1), 23–33 (1997)CrossRefGoogle Scholar
  9. 9.
    Garcia, H., Bruyninckx, H.: Tool chain (bride) delivered as brics software distribution. BRICS Deliverable 4.4 (2011)Google Scholar
  10. 10.
    Gherardi, L., Brugali, D.: An eclipse-based feature models toolchain. In: 6th Italian Workshop on Eclipse Technologies, EclipseIT 2011 (2011)Google Scholar
  11. 11.
    Kang, K.: Feature-oriented domain analysis (FODA) feasibility study. Technical report, DTIC Document (1990)Google Scholar
  12. 12.
    Minguez, J., Montano, L.: Nearness diagram (nd) navigation: collision avoidance in troublesome scenarios. IEEE Transactions on Robotics and Automation (2004)Google Scholar
  13. 13.
    Radestock, M., Eisenbach, S.: Coordination in Evolving Systems. In: Spaniol, O., Meyer, B., Linnhoff-Popien, C. (eds.) TreDS 1996. LNCS, vol. 1161, pp. 162–176. Springer, Heidelberg (1996)CrossRefGoogle Scholar
  14. 14.
    Service Component Architecture (SCA), http://www.osoa.org
  15. 15.
    Schmidt, D.: Guest editor’s introduction: Model-driven engineering. Computer 39(2), 25–31 (2006)CrossRefGoogle Scholar
  16. 16.
    Siciliano, B., Khatib, O.: Springer handbook of robotics. Springer-Verlag New York Inc. (2008)Google Scholar
  17. 17.
    Ulrich, I., Borenstein, J.: Vfh+: Reliable obstacle avoidance for fast mobile robots. In: IEEE Int. Conference on Robotics and Automation (1998)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Davide Brugali
    • 1
  • Luca Gherardi
    • 1
  • A. Biziak
    • 1
  • Andrea Luzzana
    • 1
  • Alexey Zakharov
    • 2
  1. 1.DIIMMUniversity of BergamoItaly
  2. 2.GPS GmbHStuttgartGermany

Personalised recommendations