Design Principles in Robot Control Frameworks

Abstract

Robotic software frameworks have critical 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.