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A large number of robotic software have been developed but cannot or can hardly interoperate with each other because of their dependencies on specific hardware or software platform is hard-wired into the code. Consequently, robotic software is hard and expensive to develop because there is little opportunity of reuse and because low-level details must be(More)
— One of the defining features of the field of robotics is its breadth and heterogeneity. Unfortunately, despite the availability of several robotics middleware services, robotics software still fails to smoothly handle at least two kinds of variability: algorithmic variability and lower-level variability. The consequence is that implementations of(More)
Robotic systems are a typical example of complex systems. Their design involves a combination of different technologies, requiring a multi-disciplinary approach. This is particularly challenging when a robotic system is required to interact either with humans or other entities within its environment. To tackle this complexity, we propose a design and(More)
Exception handling and replication are two complementary mechanisms that increase software reliability. Exception handling helps programmers in controlling situations in which the normal execution flow of a program cannot continue. Replication handles system failures through redundancy. Combining both techniques is a first step towards building a(More)
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