Classifying component interaction in product-line architectures

This paper describes a set of interaction patterns that were used to facilitate the composition of components in the product-line architecture of a robot control system. The primary purpose of supporting a common set of component interaction patterns in a product-line architecture is to reduce the learning curve of the inner working of the architecture. Interaction patterns provide the means for informal reasoning about the functionality and temporal behavior of components and their interconnections. In addition, it supports increased readability of the architecture diagrams