Davide Brugali

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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 robotics(More)
1 KUKA Roboter GmbH, Augsburg, Germany 2 GPS Gesellschaft für Produktionssysteme GmbH, Stuttgart, Germany 3 Bonn-Rhein-Sieg University of Applied Sciences, Bonn, Germany 4 Katholieke Universiteit Leuven, Leuven, Belgium 5 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., Stuttgart, Germany 6 University of Twente, Twente, Netherlands 7(More)
This article discusses the role of software components as architectural units of large, possibly distributed, software-intensive robotic systems. The focus is on technologies to manage the heterogeneity of hardware, computational, and communication resources and on design techniques to assemble components into systems .A component-based system is a(More)
Advanced software engineering is the key factor in the design of future complex cognitive robots. It will decide about their robustness, (run-time) adaptivity, cost-effectiveness and usability. We present a novel overall vision of a model-driven engineering approach for robotics that fuses strategies for robustness by design and robustness by adaptation. It(More)
Recent robotics studies are investigating how robots can exploit the World Wide Web in order to offer their functionality and retrieve information that is useful for completing their tasks. This new trend requires the ability of integrating robotics and information systems technology. On the first side a set of robotics component based frameworks, which are(More)
This article is the first of a two-part series intended as an introduction to component-based software engineering (CBSE) in robotics. In this tutorial, we regard a component as a piece of software that implements robotic functionality (e.g., path planning). The focus of this article is on design principles and implementation guidelines that enable the(More)
During the last years robotic researchers have been able of developing extremely complex applications. The complexity of these applications is reflected by the variety of functionalities involved, which are provided by a significant number of components. Although the reuse of software components is becoming a best-practice, the reuse of reference(More)
The paper investigates the concept of software “stability” applied to robot systems. We define “stable” a family of systems modelled, designed and implemented so that specific applications of the family may be developed re-using, adapting and specializing knowledge, architecture and existing components. During the last few years, many ideas and technologies(More)