Mikal Ziane

Mikal Ziane, Mel Ó Cinnéide

A software element defined in one place is typically used in many places. When it is changed, all its occurrences may need to be changed too, which can severely hinder software evolution. This has led to the support of encapsulation in modern programming languages. Unfortunately, as is shown in this paper, this is not enough to express all the constraints that are needed to decouple programming elements that evolve at different paces. In this paper we show that: a language can be defined to easily express very general coupling constraints; violations to these constraints can be detected automatically. We then demonstrate several places where the need for coupling constraints arose in open-source Java projects. These constraints were expressed in comments when explicit constraints would have enabled automatic treatment.

Selma Kchir, Tewfik Ziadi, Mikal Ziane et al.

One of the defining features of the field of robotics is its breadth and heterogeneity. Unfortunately, despite the availability of several robotics middleware services, robotics software still fails to smoothly handle at least two kinds of variability: algorithmic variability and lower-level variability. The consequence is that implementations of algorithms are hard to understand and impacted by changes to lower-level details such as the choice or configuration of sensors or actuators. Moreover, when several algorithms or algorithmic variants are available it is difficult to compare and combine them. In order to alleviate these problems we propose a top-down approach to express and implement robotics algorithms and families of algorithms so that they are both less dependent on lower-level details and easier to understand and combine. This approach goes top-down from the algorithms and shields them from lower-level details by introducing very high level abstractions atop the intermediate abstractions of robotics middleware. This approach is illustrated on 7 variants of the Bug family that were implemented using both laser and infra-red sensors.