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arXiv · 2409.07228

Reusability and Modifiability in Robotics Software (Extended Version)

Laura Pomponio·Maximiliano Cristiá·Estanislao Ruiz Sorazábal·Maximiliano García
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Abstract

We show the design of the software of the microcontroller unit of a weeding robot based on the Process Control architectural style and design patterns. The design consists of 133 modules resulting from using 8 design patterns for a total of 30 problems. As a result the design yields more reusable components and an easily modifiable and extensible program. Design documentation is also presented. Finally, the implementation (12 KLOC of C++ code) is empirically evaluated to prove that the design does not produce an inefficient implementation.

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Laura Pomponio, Maximiliano Cristiá, Estanislao Ruiz Sorazábal, Maximiliano García. 2024-09-11. Reusability and Modifiability in Robotics Software (Extended Version). https://arxiv.org/abs/2409.07228

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