Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
Real-time Control Software Equipped with Dynamic Reconfigurability for Its Sequential Process
Eiichi InohiraAtsushi KonnoMasaru Uchiyama
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2004 Volume 22 Issue 8 Pages 1021-1030

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Abstract
Dividing a software component into simpler ones is an effective way to improve the manageability and reusability. However, in the case of conventional dynamically reconfigurable software architecture, the software becomes difficult to manage by dividing the components. The reason is that dividing the software components needlessly increases the number of the concurrent processes in such architecture because the software components correspond to the concurrent processes. Thus, the software components should be independent of the concurrent processes. In this paper, we present a software architecture equipped with the dynamic reconfigurability for the sequential process within a concurrent process. A multi-agent model lies at the base of the presented architecture. In our architecture, an agent, which is concurrent process, can consist of the voluntary number of the software components. And, we can modify the configuration of an agent, that is, the combination of the software components at runtime. We also describe the implementation of the real-time control software by applying the presented architecture.
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