Coral：面向可组合机器人软件的统一抽象层
Coral: A Unifying Abstraction Layer for Composable Robotics Software
AI总结：
针对机器人软件紧耦合、集成难、改动成本高的问题，提出统一抽象层Coral，通过高层语义约束实现组件快速组合，兼容现有工具，在多场景验证有效并已开源，提升了软件复用性与易用性。
摘要：
尽管机器人技术领域及更广泛的软件工程社区已有大量优秀的软件组件与工具，但对所有知识水平与技能层级的用户而言，成功集成机器人系统的软件仍是一项耗时且充满挑战的任务。此外，由于机器人软件通常被构建为紧耦合的单体系统，哪怕是为提升性能、适配变化的任务需求或部署到新硬件而进行的微小改动，都可能需要投入大量工程资源。为助力解决这一问题，本文提出Coral——一种用于构建、部署和协调独立软件组件的抽象层，它最大化提升了可组合性，无需修改底层代码即可实现快速系统集成。Coral并非替代现有工具，而是通过引入更高层级的抽象来补充现有工具，该抽象将集成过程约束为具有语义意义的选择，在减轻配置负担的同时，不会限制对不同领域、系统和任务的适配性。我们详细介绍了Coral，并在复杂度递增的场景中验证了其软件集成效用，包括基于LiDAR的SLAM（同步定位与地图构建）以及多机器人腐蚀缓解任务。通过实现机器人软件的实用可组合性，Coral为广泛的机器人系统集成挑战提供了可扩展的解决方案，提升了组件可复用性、系统可重构性，同时降低了专家与非专家用户的使用门槛。我们已将Coral开源发布。
英文摘要：
Despite the multitude of excellent software components and tools available in the robotics and broader software engineering communities, successful integration of software for robotic systems remains a time-consuming and challenging task for users of all knowledge and skill levels. And with robotics software often being built into tightly coupled, monolithic systems, even minor alterations to improve performance, adjust to changing task requirements, or deploy to new hardware can require significant engineering investment. To help solve this problem, this paper presents Coral, an abstraction layer for building, deploying, and coordinating independent software components that maximizes composability to allow for rapid system integration without modifying low-level code. Rather than replacing existing tools, Coral complements them by introducing a higher-level abstraction that constrains the integration process to semantically meaningful choices, reducing the configuration burden without limiting adaptability to diverse domains, systems, and tasks. We describe Coral in detail and demonstrate its utility in integrating software for scenarios of increasing complexity, including LiDAR-based SLAM and multi-robot corrosion mitigation tasks. By enabling practical composability in robotics software, Coral offers a scalable solution to a broad range of robotics system integration challenges, improving component reusability, system reconfigurability, and accessibility to both expert and non-expert users. We release Coral open source.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
