Software Architectures for Mobile Robots
Abstract
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a plethora of reference designs and implementations. As the software architecture defines the framework in which all components are implemented, it is naturally a very important aspect of a mobile robot system. In this chapter, we overview the requirements that the particular problem domain (a mobile robot system) imposes on the software framework. We discuss some of the current design solutions, provide a historical perspective on common frameworks, and outline directions for future development.
Keywords
Cite
@article{arxiv.2206.03233,
title = {Software Architectures for Mobile Robots},
author = {Henrik Andreasson and Giorgio Grisetti and Todor Stoyanov and Alberto Pretto},
journal= {arXiv preprint arXiv:2206.03233},
year = {2023}
}
Comments
This chapter appears in: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg