Experience in Developing a Robot Control Software

This article presents an experience report in using the UML-driven development process to develop an object-oriented control software for a Sony AIBO robot. The entire project was a great learning experience for all the team members and we found the methodologies we used very effective in helping us design and develop a high-quality control system. We also feel that other software developers and practitioners, especially those developing robotic and embedded control software, would benefit from the experience and observations reported in this article.