ESROCOS: Development and Validation of a Space Robotics Framework
摘要
TheFramework \b H2020 ESROCOS project has built an open-source framework for the development of space robotics software. The ESROCOS framework provides a model-based engineering approach and a collaborative development process. It integrates proven and new technologies, providing modelling and verificationVerification tools as well as reusable components that facilitate the production of high-quality robot control software. While other robotics frameworks exist, ESROCOS is designed from the ground up to fulfil the needs of the space robotics community, which requires sound software engineering processes. This paper presents the outcomes of the ESROCOS project, the evaluation activities performed in three case studies (on-orbit servicing, planetary exploration and nuclear industry), and the results of this evaluation.