A Service Oriented Architecture for Robotic Platforms

摘要: Abstract : Existing architectures, infrastructures, and frameworks for robotic systems have limited utility when used in the context of integration. This derives from either a narrow scope assigned to architecture or lack application generally accepted software engineering principles Commercial development strategies utilizing well-defined architectural are frequently at odds with how typical architectures designed. inherent conflict results resource consumption on integration work projects where is not primary goal. Moving out laboratory into commercial domain becomes difficult. In this thesis, I present an based clear definition architecture, understanding stakeholders those stakeholder interests, use design. A constructed around viewpoint that system can be considered enterprise everything associated provides service. perspective leads description service oriented (SOA), which flexibility while satisfying requirements interests. construct implementation approach embodying these apply real world problems illustrate such development. Finally, define set metrics comparing SOA other systems.