Component Speci cations for Robotics Integration

Robotics researchers have been unable to capitalize easily on existing software components to speed up their development e orts and maximize their system's capabilities. A component-based approach for building the software for robotics systems can provide reuse and sharing abilities to the research community. The software engineering community has been studying reuse techniques for three decades. We present several results from those e orts that are applicable to the robotics software integration problem. We describe how to specify a software component so that a potential user may understand its capabilities and facilitate its application to his or her system. At the National Institute of Standards and Technology, we have developed a three-stage, component-speci cation approach. We illustrate this approach for a component that is relevant to robotics.