Recent developments of the GenoM robotic component generator

摘要

Abstract—This paper presents recent develop-ments of the LAAS architecture for autonomous systems: the GenoM3 component generator for functional components design. The GenoM tool was originally designed for autonomous and ter-restrial mobile robots. This tool remains fairly general and is supported by a consistently inte-grated set of tools and methodologies, in order to properly design, integrate, test and validate a complex autonomous system. GenoM3 intends to grant middleware indepen-dance to robotic software components so that a clear separation of concerns is achieved between highly reusable algorithmic parts and integration frameworks. Such a decoupling let middlewares be