TY - GEN
T1 - A component based design framework for robot software architecture
AU - Hongxing, Wei
AU - Xinming, Duan
AU - Shiyi, Li
AU - Guofeng, Tong
AU - Tianmiao, Wang
PY - 2009/12/11
Y1 - 2009/12/11
N2 - Componentization is an important method to improve the reusability of robot software and reduce the difficulty of system design. In this paper, we propose a component based design framework for robot software architecture. First, the robot system is functionally decomposed into reusable components. On this basis, the static model and run-time model of component are established, and a component interface definition language based on the model is designed. Second, a lightweight middleware is proposed according to the communication mode between robot components, and a component development tool and a visual component assembly environment based on the middleware are designed to facilitate the developers. Finally, an application based on the framework is introduced to verify the validation of the design framework.
AB - Componentization is an important method to improve the reusability of robot software and reduce the difficulty of system design. In this paper, we propose a component based design framework for robot software architecture. First, the robot system is functionally decomposed into reusable components. On this basis, the static model and run-time model of component are established, and a component interface definition language based on the model is designed. Second, a lightweight middleware is proposed according to the communication mode between robot components, and a component development tool and a visual component assembly environment based on the middleware are designed to facilitate the developers. Finally, an application based on the framework is introduced to verify the validation of the design framework.
KW - Component
KW - IDL
KW - Robot middleware
KW - Robot software architecture
UR - https://www.scopus.com/pages/publications/76249101835
U2 - 10.1109/IROS.2009.5354161
DO - 10.1109/IROS.2009.5354161
M3 - 会议稿件
AN - SCOPUS:76249101835
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 3429
EP - 3434
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -