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An Investigation into Reference Architectures for Mobile Robotic Systems

Authors:
Daniel Feitosa
Elisa Yumi Nakagawa

Keywords: system; robot; reference architecture; systematic review.

Abstract:
Currently, robotic systems have been more and more required for a diversity of new products, such as in domestic robots and in robots for dangerous environments. As a consequence, an increase in the complexity of these systems is observed, requiring also considerable attention to their quality and productivity. In another perspective, reference architectures have emerged as a special type of software architecture that achieves well-recognized understanding of specific domains, facilitating the development, standardization, and evolution of software systems. In this perspective, reference architectures have also been proposed for the robotic domain and they have been considered an important element to the development of systems for that domain. However, there is a lack of work that present an panorama about these architectures; furthermore, there exists no support to choose a reference architecture when developing or evolving robotic systems. Thus, the main contribution of this paper is to present a panorama about reference architectures of the robotic domain, in particular, for mobile robots. It is worth highlighting that we used the systematic review technique to identify and investigate these architectures. We have found that these architectures have in general become consolidated and have already contributed to the industry during the development of robotic systems. Besides that, results of our investigation could support the decision about which architecture to adopt aiming to develop a new software. Also, our analysis could help to create new reference architectures. However, there are still important perspectives of research that need to be investigated.

Pages: 465 to 471

Copyright: Copyright (c) IARIA, 2012

Publication date: November 18, 2012

Published in: conference

ISSN: 2308-4235

ISBN: 978-1-61208-230-1

Location: Lisbon, Portugal

Dates: from November 18, 2012 to November 23, 2012