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Analysis of software connectors in robotics

  • Most of the recent robot software frameworks follow a component-oriented development approach. They allow developers to compose a distributed application from a set of interacting components. Though these frameworks provide rich functionality, often they fail to cope with non-functional aspects (e.g., network scalability, predictability of system behavior) involved in system design, especially in distributed settings. This research sets out to address aforementioned quality attributes by introducing a pragmatic model, Protocol Stack View (PSV), for the analysis of distributed robotic software. The model relies on the fact that a distributed software can be viewed in terms of three main elements: components, ports and connectors. It specifically focuses on structure and semantics of software connectors on the implementation level. To prove effectiveness and usefulness of PSV a set of experiments were conducted to analyze scalability and to determine the configurable elements that affect it. The experiments are based on the comparison of communication infrastructure provided by two existing software packages, namely ROS and ZeroMQ.

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Document Type:Conference Object
Author:Azamat Shakhimardanov, Nico Hochgeschwender, Michael Reckhaus, Gerhard K. Kraetzschmar
Parent Title (English):IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). San Francisco, CA, 25-30 Sept. 2011
First Page:1030
Last Page:1035
Publication year:2011
Tag:Periodic structures; Software; robots
Departments, institutes and facilities:Fachbereich Informatik
Entry in this database:2015/04/02