Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems

Lütkebohle I, Schaefer J, Wrede S (2009)
In: Software Development and Integration in Robotics. TR-98-037. Berkeley, USA: International Computer Science Institute, Berkeley, USA.

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Abstract
Despite a number of contenders, no single robotics software framework has emerged as the standard, seriously impairing reuse at the component level. We propose a general pattern that structures components into sub-parts of lower granularity arranged in a transformation graph, thus making them more amenable to reuse. The graph representation supports both efficient execution and external configurability, to further reduce coupling and increase reuse. A framework-independent library is presented that realizes the pattern and provides a number of building blocks to easily integrate with existing software. We validate the approach using a case study from a current research system.
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Kobe, Japan
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Lütkebohle I, Schaefer J, Wrede S. Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems. In: Software Development and Integration in Robotics. TR-98-037. Berkeley, USA: International Computer Science Institute, Berkeley, USA; 2009.
Lütkebohle, I., Schaefer, J., & Wrede, S. (2009). Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems. Software Development and Integration in Robotics. TR-98-037.
Lütkebohle, I., Schaefer, J., and Wrede, S. (2009). “Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems” in Software Development and Integration in Robotics. TR-98-037 (Berkeley, USA: International Computer Science Institute, Berkeley, USA).
Lütkebohle, I., Schaefer, J., & Wrede, S., 2009. Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems. In Software Development and Integration in Robotics. TR-98-037. Berkeley, USA: International Computer Science Institute, Berkeley, USA.
I. Lütkebohle, J. Schaefer, and S. Wrede, “Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems”, Software Development and Integration in Robotics. TR-98-037, Berkeley, USA: International Computer Science Institute, Berkeley, USA, 2009.
Lütkebohle, I., Schaefer, J., Wrede, S.: Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems. Software Development and Integration in Robotics. TR-98-037. International Computer Science Institute, Berkeley, USA, Berkeley, USA (2009).
Lütkebohle, Ingo, Schaefer, Jan, and Wrede, Sebastian. “Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems”. Software Development and Integration in Robotics. TR-98-037. Berkeley, USA: International Computer Science Institute, Berkeley, USA, 2009.
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