PrePrint: Engineering Heterogeneous Robotics Systems: A Software Architecture-Based Approach

Engineering Heterogeneous Robotics Systems: A Software Architecture-Based Approach
Ivo Krka, University of Southern California, Los Angeles

This paper describes an approach to engineering distributed, adaptive, software-intensive systems deployed on mobile robots accompanied with sensor-based, handheld, and desktop platforms. The foundation of this approach is software architecture—a set of principal design decisions about a software-intensive system—that enables (1) guided exploration of design alternatives, (2) rigorous system modeling and analysis, (3) implementation and deployment in heterogeneous settings, and (4) powerful new system behaviors— dynamic and autonomous adaptation. Our experience in the context of two different scenarios indicates that this work can help to make the development of robotic systems more accessible to non-experts, improve the exchange of design solutions among robotics engineers, deal effectively with heterogeneity inherent in mobile robotics systems, and develop adaptive systems that can be deployed into complex and changing environments.

Index Terms: D Software/Software Engineering, D.2 Software Engineering, D.2.11 Software Architectures, D.2.11.b Domain-specific architectures, D.2.11.d Languages, D.2.17 Software Construction, A.0.b Conference Proceedings, B.8 Performance and Reliability, D.2.0 General, D.2.10 Design, D.2.1 Requirements/Specifications, D.2.11 Software Architectures, A General Literature, software architecture, services computing, requirements engineering, project management, Software Engineering, A.0 General, D.2 Software Engineering, D.2.4 Software/Program Verification, D Software/Software Engineering, I.2.9 Robotics, D.2.11 Software Architectures, D.2.11.b Domain-specific architectures, D.2.11.e Patterns, D.2.13.b Reusable libraries, D.2.17 Software Construction,Citation: Nenad Medvidovic, Hossein Tajalli, Joshua Garcia, Yuriy Brun, Ivo Krka, George Edwards, "Engineering Heterogeneous Robotics Systems: A Software Architecture-Based Approach," Computer, 22 Dec. 2010. IEEE computer Society Digital Library. IEEE Computer Society, Usage of this product signifies your acceptance of the Terms of Use.

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