Software reuse in robotics: Enabling portability in the face of diversity
Smith, Robert, Smith, Glenn P., & Wardhani, Aster W. (2004) Software reuse in robotics: Enabling portability in the face of diversity. In Robotics, Automation and Mechatronics (RAM) 2004, 1-3 December, 2004, Singapore.
Software development for robotics applications is characterised by a high degree of specialisation. The reasons for this may centre on the diversity of robotic hardware, limitations on performance, and the need to perform complex and diverse tasks. The result of using such specialised software is an almost non-existent level of software portability.
It is proposed that the use of abstraction can enable the use of component software and bring with it the benefits of reuse. Abstraction of robotic hardware and software is difficult, and it is clear that a single robot abstraction is not practical due to the degree of diversity. It is proposed that some middle ground between specialisation and complete abstraction can be found. A second level component framework using fuzzy logic techniques is presented to illustrate how a significant degree of abstraction can be achieved, facilitating software portability, while accommodating the diversity of robotics.
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|Item Type:||Conference Paper|
|Keywords:||software portability, platform abstraction, hardware abstraction, code reuse, robot, hardware platform, component, based, software engineering, robot control, component frameworks, robot architectures|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Science and Technology|
|Copyright Owner:||Copyright 2004 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||22 Jun 2006 00:00|
|Last Modified:||29 Feb 2012 13:07|
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