A reuse-oriented development process for component-based robotic systems

Authors:
Davide Brugali;Luca Gherardi;A. Biziak;Andrea Luzzana;Alexey Zakharov
Affiliations:
DIIMM, University of Bergamo, Italy;DIIMM, University of Bergamo, Italy;DIIMM, University of Bergamo, Italy;DIIMM, University of Bergamo, Italy;GPS GmbH, Stuttgart, Germany
Venue:
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Year:
2012

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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.