Poppa, FlorianZimmer, Uwe2015-12-13October 7-9781467317368http://hdl.handle.net/1885/71485Modern robotics frameworks are based on modular architectures that enable them to cope with the complexity and diversity of today's robotics applications. The encapsulation of the framework modules is the key to their reuse in various robotics scenarios.Keywords: Abstraction level; Building blockes; Code reuse; Model driven approach; Modular architectures; Modular robotics; Proposed architectures; Robot behavior; Robotics applications; Intelligent systems; User interfaces; Robotics201210.1109/IROS.2012.63855262016-02-24