The development of generic software architectures for specific application domains is an effective way of reusing software. This was one of the aims in the development of an architecture for teleoperating robots, which can be adapted to deal with different jobs, operational environments and robots. However these kinds of systems have timing requirements. The purpose of this paper is to present a characterization of this architecture, for an analysis of its timing properties using the Rate Monotonic Analysis method. In this way a generic architecture, and a method of checking its timing properties, are provided.
Álvarez, B., Alonso, A., & De La Puente, J. A. (1998). Timing analysis of a generic robot teleoperation software architecture. In Control Engineering Practice (Vol. 6, pp. 409–416). https://doi.org/10.1016/S0967-0661(98)00017-3