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components to specify the architecture of different robots, while automatic model transformation will keep them synchronised with the implementation. Moreover, it is desirable (and in our opinion possible) to define different transformations to obtain implementation components according to the most suitable robotic frameworks. 5. ACROSET: Reference Control Architectural Framework for Teleoperated Service Robots ACROSET comprises a reference architecture and an abstract component framework which allows the definition of different architectures in a platform-independent way. In addition, it proposes a set of subsystems to organize the functionality of the whole system. These subsystems were defined following the ABD method (Bachmann et al., 2001), which helps in choosing an architectural option to fulfil the given requirements. The subsystems defined by ACROSET (shown in Figure 7) are the following: • The Coordination, Control and Abstraction Subsystem (CCAS). • The Intelligence Subsystem (IS). • User Interface Subsystem (UIS). • Safety, Management and Configuration Subsystem (SMCS). A detailed explanation of these subsystems can be found in (Alvarez et al, 2006). In this section we will try to give an overview of them, especially of the CCAS. Figure 7. An overview of ACROSET subsystems

A Reference Control Architecture for Service Robots as applied to a Climbing Vehicle