Applying software design patterns to graph-modelled robotic workflows

摘要

Visual Programming Language (VPL) is utilized with increasing frequency in Architectural, Engineering and Construction (AEC) industries to accomplish tasks relating to advanced geometry and complex designs. In recent developments, VPLs have gained traction in robotic research, where they are being explored as a good tool for robotic programming. While visual programming holds several key advantages justifying this attention, it comes with key limitations for developing commercial-grade robotic applications. Such applications need to be easily maintainable, stable and performance optimal to be able to succeed in the market. In this paper, we argue that the situation with regard to visual programming is similar to that of textual programming from 1960s. The universally adopted strong abstraction mechanisms vastly improved the condition for the latter. We then proceed to propose the utilization of software design patterns as a method to overcome some of the existing challenges faced by adopters of VPLs. Six novel design patterns are introduced, and their application is exemplified by industrial software development case studies.