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OPRoS: A New Component-Based Robot Software Platform
Choulsoo Jang,Seung-Ik Lee,Seung-Woog Jung,Byoungyoul Song,Rockwon Kim,Sunghoon Kim,이철훈 한국전자통신연구원 2010 ETRI Journal Vol.32 No.5
A component is a reusable and replaceable software module accessed through its interface. Component-based development is expected to shorten the development period, reduce maintenance costs, and improve program reusability and the interoperability of components. This paper proposes a new robot software component platform in order to support the entire process of robot software development. It consists of specifications of a component model, component authoring tool, component composer, and component execution engine. To show its feasibility, this paper presents the analysis results of the component’s communication overhead, a comparison with other robotic software platforms, and applications in commercial robots.