文章基本信息

标题：CLARAty: Challenges and Steps toward Reusable Robotic Software
作者：Issa A.D. Nesnas ; Reid Simmons ; Daniel Gaines 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2006
卷号：3
期号：1
DOI：10.5772/5766
语种：English
出版社：SAGE Publications
摘要：We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and execution. CLARAty was adapted to a number of heterogeneous robots with different mechanisms and hardware control architectures. In this paper, we also describe how we addressed some of these challenges in the development of the CLARAty software.
关键词：reusable robotic software; robotic framework; interoperable robotic software; robotic architecture; object-oriented robotics