OPRoS: A New Component-Based RobotSoftware Platform

ETRI Journal

关键词: OPRoS;    component execution engine;    component composer;    authoring tool;    component platform;    component;    Robot software;   

Others  :  1185885
DOI  :  10.4218/etrij.10.1510.0138

【 摘 要 】

A component is a reusable and replaceable software module accessed through its interface. Component-based development is expected to shorten the development period, reduce maintenance costs, and improve program reusability and the interoperability of components. This paper proposes a new robot software component platform in order to support the entire process of robot software development. It consists of specifications of a component model, component authoring tool, component composer, and component execution engine. To show its feasibility, this paper presents the analysis results of the component’s communication overhead, a comparison with other robotic software platforms, and applications in commercial robots.

   

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