{"id":"https://openalex.org/W2011438161","doi":"https://doi.org/10.1109/iros.2005.1545523","title":"Towards component-based robotics","display_name":"Towards component-based robotics","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2011438161","doi":"https://doi.org/10.1109/iros.2005.1545523","mag":"2011438161"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108632030","display_name":"Alex Brooks","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"A. Brooks","raw_affiliation_strings":["ARC Centre of Excellence in Autonomous Systems (CAS), Australian Centre for Field Robotics, University of Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence in Autonomous Systems (CAS), Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089544197","display_name":"Tobias Kaupp","orcid":"https://orcid.org/0000-0003-3017-5816"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"T. Kaupp","raw_affiliation_strings":["ARC Centre of Excellence in Autonomous Systems (CAS), Australian Centre for Field Robotics, University of Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence in Autonomous Systems (CAS), Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110238501","display_name":"Alexei Makarenko","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A. Makarenko","raw_affiliation_strings":["ARC Centre of Excellence in Autonomous Systems (CAS), Australian Centre for Field Robotics, University of Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence in Autonomous Systems (CAS), Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044131792","display_name":"Stefan B. Williams","orcid":"https://orcid.org/0000-0001-9416-5639"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"S. Williams","raw_affiliation_strings":["ARC Centre of Excellence in Autonomous Systems (CAS), Australian Centre for Field Robotics, University of Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"ARC Centre of Excellence in Autonomous Systems (CAS), Australian Centre for Field Robotics, University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064050743","display_name":"Anders Oreb\u00e4ck","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"A. Oreback","raw_affiliation_strings":["Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5108632030"],"corresponding_institution_ids":["https://openalex.org/I4210127558"],"apc_list":null,"apc_paid":null,"fwci":14.6874,"has_fulltext":false,"cited_by_count":203,"citation_normalized_percentile":{"value":0.99229127,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"163","last_page":"168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.8600670099258423},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.8332018852233887},{"id":"https://openalex.org/keywords/component-based-software-engineering","display_name":"Component-based software engineering","score":0.6901470422744751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6561351418495178},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6381515264511108},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5743173360824585},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5302918553352356},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.529315173625946},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.5052974820137024},{"id":"https://openalex.org/keywords/software-framework","display_name":"Software framework","score":0.4240260124206543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3987347483634949},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.38360363245010376},{"id":"https://openalex.org/keywords/software-system","display_name":"Software system","score":0.33088618516921997},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3233035206794739},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22261762619018555},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1255818009376526}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.8600670099258423},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.8332018852233887},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.6901470422744751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6561351418495178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6381515264511108},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5743173360824585},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5302918553352356},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.529315173625946},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.5052974820137024},{"id":"https://openalex.org/C76518257","wikidata":"https://www.wikidata.org/wiki/Q271680","display_name":"Software framework","level":5,"score":0.4240260124206543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3987347483634949},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.38360363245010376},{"id":"https://openalex.org/C149091818","wikidata":"https://www.wikidata.org/wiki/Q2429814","display_name":"Software system","level":3,"score":0.33088618516921997},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3233035206794739},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22261762619018555},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1255818009376526},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W117921035","https://openalex.org/W1509827371","https://openalex.org/W1519211492","https://openalex.org/W1572116564","https://openalex.org/W1576814610","https://openalex.org/W1943769906","https://openalex.org/W2005415014","https://openalex.org/W2116755374","https://openalex.org/W2119242513","https://openalex.org/W2119906889","https://openalex.org/W2126605958","https://openalex.org/W2146342767","https://openalex.org/W2148033465","https://openalex.org/W2167500728","https://openalex.org/W6604835142","https://openalex.org/W6634457405"],"related_works":["https://openalex.org/W1764030237","https://openalex.org/W4238190086","https://openalex.org/W2512656006","https://openalex.org/W2097691581","https://openalex.org/W4254068899","https://openalex.org/W2157036638","https://openalex.org/W2385997131","https://openalex.org/W2182545529","https://openalex.org/W2900166232","https://openalex.org/W2384892149"],"abstract_inverted_index":{"This":[0,51],"paper":[1,52,76],"gives":[2],"an":[3,27,80,91],"overview":[4],"of":[5,16,45,63,94],"component-based":[6,64,82],"software":[7,49,83],"engineering":[8,84],"(CBSE),":[9],"motivates":[10],"its":[11],"application":[12],"to":[13,29,33,39],"the":[14,35,69],"field":[15],"mobile":[17,88,100],"robotics,":[18],"and":[19,47,60],"proposes":[20],"a":[21,43],"particular":[22],"component":[23],"model.":[24],"CBSE":[25],"is":[26,56,68],"approach":[28],"system-building":[30],"that":[31,54],"aims":[32],"shift":[34],"emphasis":[36],"from":[37,42],"programming":[38],"composing":[40],"systems":[41],"mixture":[44],"off-the-shelf":[46],"custom-built":[48],"components.":[50],"argues":[53],"robotics":[55,89],"particularly":[57],"well-suited":[58],"for":[59,72,87,98],"in":[61],"need":[62],"ideas.":[65],"Furthermore,":[66],"now":[67],"right":[70],"time":[71],"their":[73],"introduction.":[74],"The":[75],"introduces":[77],"Orca":[78],"-":[79],"open-source":[81],"framework":[85],"proposed":[86],"with":[90],"associated":[92],"repository":[93],"free,":[95],"reusable":[96],"components":[97],"building":[99],"robotic":[101],"systems.":[102]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":18},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":18}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}