Component Design Patterns for Robot Platform Standardization: Anatomical studies and a Proposal

摘要

Due to the benefits of modularity, reusability, and productivity, component-based technology is becoming popular in robot middleware systems. Many component-based robot platforms. This paper reviews the requirementsand patterns of robot component models, and performs dissection of component models in OMG RTC and Korean OPRoS standards from the point of compatibility and extensibility. Base on the analysis of the existing component model, an extensible standard-oriented component model is proposed with an early-stage of implementation