Software reuse in robotics: Enabling portability in the face of diversity

Software development for robotics applications is characterised by a high degree of specialisation. The reasons for this may centre on the diversity of robotic hardware, limitations on performance, and the need to perform complex and diverse tasks. The result of using such specialised software is an almost non-existent level or software portability. It is proposed that the use of abstraction can enable the use or component software and bring with it the benefits or reuse. Abstraction of robotic hardware and software is difficult, and it is clear that a single robot abstraction is not practical due to the degree or diversity. It is proposed that some middle ground between specialisation and complete abstraction can be found. A second level component framework using fuzzy logic techniques is presented to illustrate how a significant degree of abstraction can be achieved, facilitating software portability, while accommodating the diversity of robotics.