Requirements and a Case-Study for SLE from Robotics: Event-oriented Incremental Component Construction

Abstract

Research in the area of human-robot interaction requires a tight interleav- ing of incremental system development and experimentation across different robotic platforms. In terms of software engineering this proposes certain challenges to system development that are only partially covered by component-based robotic engineering. For the incremental component composition, we introduce an explicit ganularity level above functions but below components using an event-driven data-flow model. Two different case studies show its impact on the re-use and maintenance of software com- ponents. We discuss requirements and possible impact of software languages for the graph-based decomposition approach.