Abstract
We present Sancta, a flexible control architecture for multi-robot teams. It is fully written in Ada 2005, except for the reuse of some C libraries. In this paper we highlight the architectural elements of our implementation and also present our experiences using the cutting-edge 2005 implementation from GNAT, through its GPL 2005 and 2006 iterations. We expect to exemplify the kind of advantages and challenges that developers can find in using the new Ada 2005 features. Since this architecture makes use of a wide range of Ada capabilities, from low level hardware interaction to graphical user interfaces, we believe it is a good example of a successful mid-size project using Ada 2005 in academy.
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Mosteo, A.R., Montano, L. (2007). Sancta: An Ada 2005 General-Purpose Architecture for Mobile Robotics Research. In: Abdennadher, N., Kordon, F. (eds) Reliable Software Technologies – Ada Europe 2007. Ada-Europe 2007. Lecture Notes in Computer Science, vol 4498. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73230-3_17
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DOI: https://doi.org/10.1007/978-3-540-73230-3_17
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