{"id":"https://openalex.org/W2124347077","doi":"https://doi.org/10.1109/iros.2008.4651213","title":"OpenRDK: A modular framework for robotic software development","display_name":"OpenRDK: A modular framework for robotic software development","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2124347077","doi":"https://doi.org/10.1109/iros.2008.4651213","mag":"2124347077"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4651213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651213","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5081226584","display_name":"Daniele Calisi","orcid":"https://orcid.org/0009-0001-0637-5597"},"institutions":[{"id":"https://openalex.org/I4210157426","display_name":"Istituto Nazionale di Fisica Nucleare, Sezione di Roma I","ror":"https://ror.org/05eva6s33","country_code":"IT","type":"facility","lineage":["https://openalex.org/I160013858","https://openalex.org/I4210157426"]},{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Calisi","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica A. Ruberti, Sapienza Universit\u00e0 di Roma, Rome, Italy","Dipt. di Inf. e Sist., Univ. di Roma, Rome"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica A. Ruberti, Sapienza Universit\u00e0 di Roma, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipt. di Inf. e Sist., Univ. di Roma, Rome","institution_ids":["https://openalex.org/I4210157426"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057460079","display_name":"Andrea Censi","orcid":"https://orcid.org/0000-0001-5162-0398"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea Censi","raw_affiliation_strings":["Control & Dynamical Systems Department, California Institute of Technology, Pasadena, CA, USA","Control and Dynamical Systems Department, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control & Dynamical Systems Department, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Control and Dynamical Systems Department, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026692089","display_name":"Luca Iocchi","orcid":"https://orcid.org/0000-0001-9057-8946"},"institutions":[{"id":"https://openalex.org/I4210157426","display_name":"Istituto Nazionale di Fisica Nucleare, Sezione di Roma I","ror":"https://ror.org/05eva6s33","country_code":"IT","type":"facility","lineage":["https://openalex.org/I160013858","https://openalex.org/I4210157426"]},{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Iocchi","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica A. Ruberti, Sapienza Universit\u00e0 di Roma, Rome, Italy","Dipt. di Inf. e Sist., Univ. di Roma, Rome"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica A. Ruberti, Sapienza Universit\u00e0 di Roma, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipt. di Inf. e Sist., Univ. di Roma, Rome","institution_ids":["https://openalex.org/I4210157426"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075651762","display_name":"Daniele Nardi","orcid":"https://orcid.org/0000-0001-6606-200X"},"institutions":[{"id":"https://openalex.org/I4210157426","display_name":"Istituto Nazionale di Fisica Nucleare, Sezione di Roma I","ror":"https://ror.org/05eva6s33","country_code":"IT","type":"facility","lineage":["https://openalex.org/I160013858","https://openalex.org/I4210157426"]},{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Nardi","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica A. Ruberti, Sapienza Universit\u00e0 di Roma, Rome, Italy","Dipt. di Inf. e Sist., Univ. di Roma, Rome"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica A. Ruberti, Sapienza Universit\u00e0 di Roma, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipt. di Inf. e Sist., Univ. di Roma, Rome","institution_ids":["https://openalex.org/I4210157426"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1872","last_page":"1877"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9753000140190125,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.7993204593658447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7244150638580322},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7150827050209045},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.6236936450004578},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5705080032348633},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.533031702041626},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.46693912148475647},{"id":"https://openalex.org/keywords/software-framework","display_name":"Software framework","score":0.4455842077732086},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.44283628463745117},{"id":"https://openalex.org/keywords/software-development","display_name":"Software development","score":0.4177100658416748},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4150004982948303},{"id":"https://openalex.org/keywords/component-based-software-engineering","display_name":"Component-based software engineering","score":0.3417831063270569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22840464115142822},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1203223466873169}],"concepts":[{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.7993204593658447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7244150638580322},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7150827050209045},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.6236936450004578},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5705080032348633},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.533031702041626},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.46693912148475647},{"id":"https://openalex.org/C76518257","wikidata":"https://www.wikidata.org/wiki/Q271680","display_name":"Software framework","level":5,"score":0.4455842077732086},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.44283628463745117},{"id":"https://openalex.org/C529173508","wikidata":"https://www.wikidata.org/wiki/Q638608","display_name":"Software development","level":3,"score":0.4177100658416748},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4150004982948303},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.3417831063270569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22840464115142822},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1203223466873169},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2008.4651213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651213","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.385.3272","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.385.3272","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://andrea.caltech.edu/pub/research/2008-iros-openrdk.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.513.3940","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.513.3940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dis.uniroma1.it/~calisi/papers/cace08rdk.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/367585","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/367585","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W217151948","https://openalex.org/W1616096744","https://openalex.org/W1721145547","https://openalex.org/W1975949753","https://openalex.org/W2116755374","https://openalex.org/W2135268970","https://openalex.org/W2148033465","https://openalex.org/W2169523813","https://openalex.org/W2339963894","https://openalex.org/W2752853835","https://openalex.org/W2752908210","https://openalex.org/W2908598901","https://openalex.org/W6682162620"],"related_works":["https://openalex.org/W2744906766","https://openalex.org/W1979555249","https://openalex.org/W1965643255","https://openalex.org/W1992046864","https://openalex.org/W2032832792","https://openalex.org/W1480329237","https://openalex.org/W2002044810","https://openalex.org/W1575382834","https://openalex.org/W2519691570","https://openalex.org/W2369682967"],"abstract_inverted_index":{"Intense":[0],"efforts":[1],"to":[2,43],"define":[3],"a":[4,12,57,108],"common":[5,58],"structure":[6],"in":[7,25,37],"robotic":[8,39,79,117],"applications,":[9,48],"both":[10],"from":[11,15,63],"conceptual":[13],"and":[14,29,73,99,104,123,133],"an":[16,152,158],"implementation":[17],"point":[18],"of":[19,46,52,97,115,128,141,148],"view,":[20],"have":[21,32],"been":[22,33,121,135],"carried":[23],"out":[24],"the":[26,44,53,91,139],"last":[27],"years":[28,127],"several":[30],"frameworks":[31,85],"realized":[34],"for":[35,78,86,138],"helping":[36],"developing":[38],"applications.":[40,80],"However,":[41],"due":[42],"diversity":[45],"these":[47],"as":[49,51,75],"well":[50],"research":[54],"groups":[55],"involved,":[56],"framework":[59,110],"is":[60,156],"still":[61],"far":[62],"being":[64],"accepted.":[65],"In":[66],"this":[67],"paper":[68],"we":[69,105],"focus":[70],"on":[71,94,112],"modularity":[72],"re-usability,":[74],"major":[76],"features":[77],"We":[81],"thus":[82],"characterize":[83],"existing":[84],"robot":[87],"software":[88],"development":[89,114,140],"through":[90],"choices":[92],"made":[93],"concurrent":[95],"execution":[96],"modules":[98],"information":[100],"sharing":[101],"among":[102],"them":[103],"present":[106],"OpenRDK,":[107],"modular":[109],"focused":[111],"rapid":[113],"distributed":[116],"systems.":[118],"OpenRDK":[119,155],"has":[120,134],"designed":[122],"developed":[124],"with":[125,145],"many":[126,142],"experience":[129],"following":[130],"userspsila":[131],"advice":[132],"successfully":[136],"used":[137],"diverse":[143],"applications":[144],"different":[146],"kinds":[147],"robots.":[149],"After":[150],"such":[151],"extensive":[153],"test,":[154],"now":[157],"open":[159],"source":[160],"project.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}