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Reuse-oriented SLAM framework using component-based approach

Abdelhady, M.A. (2017) Reuse-oriented SLAM framework using component-based approach.

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Abstract:Simultaneous Localization and Mapping also known as SLAM is a well established problem in the scientific community and considered to be solved for a specific combination of environment, resources and requirements. It depicts the process of a robot creating a map of an unknown environment while simultaneously estimating its location within the self-created map. Currently, numerous SLAM algorithms have been successfully developed and applied to a multitude of applications using different platforms. The motivation for this work is the lack of a formal development methodology for SLAM and the tight coupling of the constituting sub-modules of the software artifacts, which reflects poorly on code reusability. Henceforth, a reuse-oriented framework is sought that aims at decoupling SLAM and reducing the development and deployment time. The framework is built using component-based software development approaches which is utilized to encapsulate the different parts in SLAM as software components and enforce the separation of concerns. In order to validate the reusability of the developed infrastructure, Architecture Trade-off Analysis Method (ATAM) will be used to derive a number of scenarios addressing the reusability criteria based on the reuse-readiness levels (RRLs). The evaluation indicates that the proposed methodology facilitates rapid deployment of SLAM realizations with different algorithms, sensors and map representations with minimal modifications to the constituting components. Thus, contributing positively to the reusability of SLAM and offering a starting point towards a more mature SLAM from the software quality point of view.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/73651
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