<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Ingo Luetkebohle</style></author><author><style face="normal" font="default" size="100%">Jan Schaefer</style></author><author><style face="normal" font="default" size="100%">Sebastian Wrede</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Facilitating Re-Use by Design: A Filtering, Transformation, and Selection Architecture for Robotic Software Systems</style></title><secondary-title><style face="normal" font="default" size="100%">ICRA'09 Workshop on Software Engineering for Robotics IV</style></secondary-title></titles><keywords><keyword><style  face="normal" font="default" size="100%">architecture</style></keyword><keyword><style  face="normal" font="default" size="100%">CoR-Lab Publication</style></keyword><keyword><style  face="normal" font="default" size="100%">dataflow</style></keyword><keyword><style  face="normal" font="default" size="100%">robotics</style></keyword><keyword><style  face="normal" font="default" size="100%">software engineering</style></keyword></keywords><dates><year><style  face="normal" font="default" size="100%">2009</style></year><pub-dates><date><style  face="normal" font="default" size="100%">May</style></date></pub-dates></dates><publisher><style face="normal" font="default" size="100%">IEEE RAS TC-SOFT</style></publisher><pub-location><style face="normal" font="default" size="100%">Kobe, Japan</style></pub-location><abstract><style face="normal" font="default" size="100%">&lt;p&gt;Despite a number of contenders, no single robotics software framework has emerged as the standard, seriously impairing reuse at the component level. We propose a general pattern that structures components into sub-parts of lower granularity arranged in a transformation graph, thus making them more amenable to reuse. The graph representation supports both efficient execution and external configurability, to further reduce coupling and increase reuse. A framework-independent library is presented that realizes the pattern and provides a number of building blocks to easily integrate with existing software. We validate the approach using a case study from a current research system.&lt;/p&gt;</style></abstract></record></records></xml>