Software component replacement for reusability of application in robot platform

Reusing robot applications in diverse robots is one of the important issues for robot platform. Due to diverse robot hardware configurations, however, providing compatibility of robot applications is not easy. In this paper, we propose a software component replacement method which changes application profiles to provide software compatibility. By rewriting of application profiles, the method enables compatible components to be loaded instead of unusable components without modification of source code. The proposed method enables robot application developers to build their applications without considering specific robot hardware too much. Instead, the robot platform with component replacement module takes care of application deployment to diverse robots. This method can increase compatibility and reusability of robot applications.