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  Brooks, A., Kaupp, T., Makarenko, A., Williams, S.B. & Oreback, Anders
Towards Component-Based Robotics
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'05), 2005
Presented at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'05), Edmonton, Canada, 02 Aug. - 06 Aug. 2005

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 custombuilt software components. This paper argues that robotics is particularly well-suited for and in need of componentbased ideas. Furthermore, now is the right time for their introduction. The paper introduces Orca

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