GenoM3: Building middleware-independent robotic components

The topic of reusable software in robotics is now largely addressed. Components based architectures, where components are independent units that can be reused accross applications, have become more popular. As a consequence, a long list of middlewares and integration tools is available in the commun...

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Bibliographic Details
Published in2010 IEEE International Conference on Robotics and Automation pp. 4627 - 4632
Main Authors Mallet, Anthony, Pasteur, Cédric, Herrb, Matthieu, Lemaignan, Séverin, Ingrand, Félix
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2010
Subjects
Application software
Bioinformatics
Buildings
Computer architecture
Genomics
Middleware
Open source software
Robots
Software engineering
Software reusability
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ISBN9781424450381
1424450381
ISSN1050-4729
DOI10.1109/ROBOT.2010.5509539

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Summary:The topic of reusable software in robotics is now largely addressed. Components based architectures, where components are independent units that can be reused accross applications, have become more popular. As a consequence, a long list of middlewares and integration tools is available in the community, often in the form of open-source projects. However, these projects are generally self contained with little reuse between them. This paper presents a software engineering approach that intends to grant middleware independance to robotic software components so that a clear separation of concerns is achieved between highly reusable algorithmic parts and integration frameworks. Such a decoupling let middle-wares be used interchangeably, while fully benefitting from their specific, individual features. This work has been integrated into a new version of the open-source G en oM component generator tool: G en oM3
ISBN:9781424450381
1424450381
ISSN:1050-4729
DOI:10.1109/ROBOT.2010.5509539