Constraint-based Handling of Component Networks

  • Matthias Goldhoorn
  • Frank Kirchner


The ability to reconfigure running complex component networks in a robust manner is the next challenge in robotic software frameworks. The increasing complexity of hard- and software leads to an increasing systems’ complexity. The need to have a non-static version of a collection of components that form a behaviour, for one point in time, is caused not least by limiting resources of processing power. It is not possible to have all algorithms running at each point in time. Therefore, the requirement to manage these component networks came up. This work presents a new constraint-based approach to tackle the problem. The aim of this work is to model a constraint-based system that is able to handle state of the art robotic component networks, without increasing the complexity for the system handling and system instantiation.


component networks, reconfiguration, system behaviour, planning, robotics 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an open-source robot operating system. In: ICRA workshop on open source software. Volume 3. (2009) 5Google Scholar
  2. 2.
    o. V.: Rock, the Robot Construction Kit (2012)
  3. 3.
    McGann, C.e.a.: A deliberative architecture for AUV control. IEEE International Conference on Robotics and Automation (2008)Google Scholar
  4. 4.
    Tenorth, M., Beetz, M.: KnowRob – A Knowledge Processing Infrastructure for Cognition-enabled Robots. International Journal of Robotics Research (IJRR) 32 (2013) 566–590CrossRefGoogle Scholar
  5. 5.
    Lutkebohle, I.e.a.: Generic middleware support for coordinating robot software components: The Task-State-Pattern. Journal of Software Engineering in Robotics 2 (2011) 20–39Google Scholar
  6. 6.
    Harnad, S.: The symbol grounding problem. Physica D: Nonlinear Phenomena 42 (1990) 335–346CrossRefGoogle Scholar
  7. 7.
    Joyeux, S., Albiez, J., et al.: Robot development : from components to systems. In: Control Architecture of Robots. (2011) 1–15Google Scholar

Copyright information

© Springer Fachmedien Wiesbaden 2015

Authors and Affiliations

  1. 1.Department of Computer ScienceUniversity of BremenBremenGermany

Personalised recommendations