SORMA: interoperating distributed robotics hardware

This paper introduces the Service Object Request Management Architecture (SORMA), its design issues, and its concepts. It is a software framework for rapid development of object-oriented software modules and their integration into stand-alone and distributed applications. SORMA provides an intelligent “object-bus” for interoperating and sharing distributed computing and robotics hardware. We investigate the question of why too many valuable hardware and software systems and components are a “one-of-a-kind” product which do not find economical re-use. We analyze the “costs of communication” between the component´s builder and all its users, who build solutions. We propose to pay much more attention to interactive exploration frameworks, which support rapid, qualified information gain on context-situated, efficient applicability. SORMA demonstrates how to reach self-explaining, built-in interactivity which does not impair the component´s real-time efficiency