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Developing software for controlling robotic systems is costly due to the complexity inherent in these systems. There is a need for tools that permit a reduction in the programming effort, aiming at the generation of modular and robust applications, and promoting software reuse. The techniques which are of common use today in other areas are not adequate to deal with the complexity associated with these systems [1]. This document presents CoolBOT [2], a component oriented framework for programming robotic systems, based on a port automata model [3] that fosters controllability and observability of software components.
CoolBOT [2] is a C++ component-oriented framework for programming robotic systems that allows designing systems in terms of composition and integration of software components. Each software component [4] is an independent execution unit which provides a given functionality, hidden behind an external interface specifying clearly which data it needs and which data it produces. Components, once defined and built, may be instantiated, integrated and used as many times as needed in other systems.
CoolBOT introduces two kinds of variables as facilities in order to support the monitoring and control of components: observable variables, that represent features of components that should be of interest from outside in terms of control, or just for observability and monitoring purposes; and controllable variables, which represent aspects of components which can be modified from outside, in order to be able to control the internal behavior of a component. Additionally, to guarantee external observation and control, CoolBOT components provide by default two important ports: the control port and the monitoring port, both depicted in Fig. 3.
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