Because robotic systems get more complex all the time, developers around the world have, during the last decade, created component-based software frameworks (Orocos, Open-RTM, ROS, OPRoS, SmartSoft) to support the development and reuse of “large grained” pieces of robotics software. This paper introduces the BRICS Component Model (BCM) to provide developers with putting as much structure as possible in their development of, both, individual components and systems of components, using one or more of those frameworks at the same time, without introducing any framework- or application-specific details. The BCM is built upon two complementary paradigms: the “5Cs” (separation of concerns between the development aspects of Computation, Communication, Coordination, Configuration and Composition) and the metamodelling approach from Model-Driven Engineering. The material in this paper is presented with as ideal reader in mind a senior robot software system engineer, with several years of experience in one or more of the mentioned robotic software frameworks, and with an interest in using models of components and systems to generate code instead of hand-crafting it.

(2013). The BRICS Component Model: a Model-Based Development paradigm for complex robotics software systems [conference presentation - intervento a convegno]. Retrieved from http://hdl.handle.net/10446/30239

The BRICS Component Model: a Model-Based Development paradigm for complex robotics software systems

Brugali, Davide;
2013-01-01

Abstract

Because robotic systems get more complex all the time, developers around the world have, during the last decade, created component-based software frameworks (Orocos, Open-RTM, ROS, OPRoS, SmartSoft) to support the development and reuse of “large grained” pieces of robotics software. This paper introduces the BRICS Component Model (BCM) to provide developers with putting as much structure as possible in their development of, both, individual components and systems of components, using one or more of those frameworks at the same time, without introducing any framework- or application-specific details. The BCM is built upon two complementary paradigms: the “5Cs” (separation of concerns between the development aspects of Computation, Communication, Coordination, Configuration and Composition) and the metamodelling approach from Model-Driven Engineering. The material in this paper is presented with as ideal reader in mind a senior robot software system engineer, with several years of experience in one or more of the mentioned robotic software frameworks, and with an interest in using models of components and systems to generate code instead of hand-crafting it.
2013
Bruyninckx, Herman; Hochgeschwender, Nico; Klotzbücher, Markus; Kraetzschmar, Gerhard; Brugali, Davide; Gherardi, Luca
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/30239
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