Software Engineering for Experimental Robotics

Davide Brugali, Arvin Agah, Bruce MacDonald, Issa A. D. Nesnas, William D. Smart (auth.), Prof. Davide Brugali (eds.)9783642088476, 3642088473

“Software Engineering for Experimental Robotics” collects contributions that describe the state of the art in software development for the Robotics domain. It reports on innovative ideas that are progressively introduced in the software development process, in order to promote the reuse of robotic software artifacts: domain engineering, components, frameworks and architectural styles. It illustrates the results of the most successful and well-known research projects which aim to develop reusable robotic software systems. Most of the chapters report on concepts and ideas discussed at the well attended ICRA2005 Workshop on “Principles and Practice of Software Development in Robotics”, Barcelona, Spain, April 18 2005. The authors are recognised as leading scholars internationally, and the result is an effective blend of fundamental and innovative results on research and development in software for robotic systems, where one common factor is the integration of reusable building blocks. Besides the advancement in the field, most contributions survey the state-of-the-art, report a number of practical applications to real systems, and discuss possible future developments.

Table of contents :
Front Matter….Pages I-XXII
Front Matter….Pages 1-1
Trends in Robot Software Domain Engineering….Pages 3-8
Stable Analysis Patterns for Robot Mobility….Pages 9-30
The CLARAty Project: Coping with Hardware and Software Heterogeneity….Pages 31-70
Simulation and Testbeds of Autonomous Robots in Harsh Environments….Pages 71-92
Writing Code in the Field: Implications for Robot Software Development….Pages 93-105
Software Environments for Robot Programming….Pages 107-124
Sidebar — Programming Commercial Robots….Pages 125-132
Front Matter….Pages 133-133
Trends in Component-Based Robotics….Pages 135-142
CoolBOT: A Component Model and Software Infrastructure for Robotics….Pages 143-168
ROCI: Strongly Typed Component Interfaces for Multi-robot Teams Programming….Pages 169-182
Communication Patterns as Key Towards Component Interoperability….Pages 183-210
Using MARIE for Mobile Robot Component Development and Integration….Pages 211-230
Orca: A Component Model and Repository….Pages 231-251
Sidebar — Software Architectures….Pages 253-256
Front Matter….Pages 257-257
Trends in Robotic Software Frameworks….Pages 259-266
Reusable Robot Software and the Player/Stage Project….Pages 267-289
An Integration Framework for Developing Interactive Robots….Pages 291-305
Increasing Decoupling in the Robotics4.NET Framework….Pages 307-324
VIP: The Video Image Processing Framework Based on the MIRO Middleware….Pages 325-344
MRT: Robotics Off-the-Shelf with the Modular Robotic Toolkit….Pages 345-364
Front Matter….Pages 257-257
Towards Framework-Based U×V Software Systems: An Applied Research Perspective….Pages 365-393
Sidebar — Middlewares for Distributed Computing….Pages 395-398
Front Matter….Pages 399-399
Trends in Software Environments for Networked Robotics….Pages 401-408
Advanced Teleoperation Architecture….Pages 409-430
A Multi-robot-Multi-operator Collaborative Virtual Environment….Pages 431-458
Modularity and Mobility of Distributed Control Software for Networked Mobile Robots….Pages 459-484
Sidebar — Java3D for Web-Based Robot Control….Pages 485-490
Back Matter….Pages 491-492