Stable aspects in robot software development

Abstract

The paper investigates the concept of software "stability" applied to robot systems. We define "stable" a family of systems modelled, designed and implemented so that specific applications of the family may be developed re-using, adapting and specializing knowledge, architecture and existing components. During the last few years, many ideas and technologies of software engineering (e.g. modularity, OO development and design patterns) were introduced in the development of robotic systems to improve the "stability" property. All these ideas and technologies are important. Nevertheless, they model robotic systems along a unique direction: the functional decomposition of parts. Unfortunately, there are concerns of robotic systems that relate to the systems as a whole hence crosscutting their modular structure. The Aspect Oriented Software Development is a recently emerged approach for modelling, designing and encapsulating the above-mentioned crosscutting concerns (aspects). We contend that stability must be based on a careful domain analysis and on a multidimensional modelling of different and recurring aspects of robot systems.