@incollection{BrooksKauppMakarenkoetal., author = {Brooks, Alex and Kaupp, Tobias and Makarenko, Alexei and Williams, Stefan and Oreb{\"a}ck, Anders}, title = {Orca: A component model and repository}, series = {Software engineering for experimental robotics ; Springer Tracts in Advanced Robotics (STAR,volume 30)}, booktitle = {Software engineering for experimental robotics ; Springer Tracts in Advanced Robotics (STAR,volume 30)}, editor = {Brugali, Davide}, publisher = {Springer}, address = {Berlin, Heidelberg}, isbn = {978-3-540-68949-2}, doi = {10.1007/978-3-540-68951-5_13}, pages = {231 -- 251}, abstract = {This Chapter describes Orca: an open-source project which applies Component-Based Software Engineering principles to robotics. It provides the means for defining and implementing interfaces such that components developed independently are likely to be inter-operable. In addition it provides a repository of free re-useable components. Orca attempts to be widely applicable by imposing minimal design constraints. This Chapter describes lessons learned while using Orca and steps taken to improve the framework based on those lessons. Improvements revolve around middleware issues and the problems encountered while scaling to larger distributed systems. Results are presented from systems that were implemented.}, language = {en} } @inproceedings{BrooksKauppMakarenkoetal., author = {Brooks, Alex and Kaupp, Tobias and Makarenko, Alexei and Williams, Stefan and Oreback, Anders}, title = {Towards component-based robotics}, series = {2005 IEEE/RSJ International Conference on Intelligent Robots and Systems}, booktitle = {2005 IEEE/RSJ International Conference on Intelligent Robots and Systems}, pages = {163 -- 168}, abstract = {This paper gives an overview of component-based software engineering (CBSE), motivates its application to the field of mobile robotics, and proposes a particular component model. CBSE is an approach to system-building that aims to shift the emphasis from programming to composing systems from a mixture of off-the-shelf and custom-built software components. This paper argues that robotics is particularly well-suited for and in need of component-based ideas. Furthermore, now is the right time for their introduction. The paper introduces Orca - an open-source component-based software engineering framework proposed for mobile robotics with an associated repository of free, reusable components for building mobile robotic systems.}, language = {en} }