An overview on framework design for autonomous robots

Abstract

Abstract Robotic software frameworks have major impact on development effort and quality of robot control systems. This paper provides a condensed overview on the complex topic of robotic framework design. Important areas of design are discussed – together with design principles applied in state-of-the-art solutions. They are related to software quality attributes with a brief discussion on their impact. Based on this analysis, the approaches taken in the framework Finroc are briefly presented.