Communication Patterns as Key towards Component-Based Robotics

Vital functions of mobile robots are provided by software and software dominance is still growing. Mastering the software complexity is not only a demanding but also indispensable task towards an operational robot. Nevertheless, well-known and even always needed algorithms are often implemented from scratch over and over again instead of being reused as off-the-shelf components. A major reason is the lack of a framework that allows to compose robotics software out of standardized components without already prescribing a robotics architecture. Whereas Component Based Software Engineering (CBSE) is an approach to make a shift from implementation to composition, the general CBSE approach does not give any hints on how to ensure that independently provided components finally fit together as reusable components. This paper introduces a small set of communication patterns as basis for all intercomponent interactions. Since all externally visible interfaces of components are composed out of the same set of communication patterns, these are the key towards a stringent interface semantics. Generic communication patterns enforce decoupling of components and ensure composability by restricting the diversity of interfaces. The SmartSoft framework as one implementation of this approach already proved its adequacy in many projects