Towards a Taxonomy of Services for Developing Service-Oriented Robotic Systems

Robotic systems have been increasingly adopted in several sectors of the society. To cope with this demand and diversity, researchers have investigated the Service-Oriented Architecture (SOA) to develop such systems. SOA promotes interoperability between software modules and heterogeneous hardware devices, and a better reusability and flexibility for robotic systems. However, due to the lack of a common understanding on how services for robotic systems should be designed, described and also classified, these services are sometimes difficult to be used in other projects, reducing the potential of reuse provided by SOA. The main contribution of this paper is to propose a taxonomy of services for robotic systems that was based on results of a systematic review, reference architectures, and knowledge of specialists. Results have pointed out that our taxonomy is an important element to organize different types of services, what can promote reuse and productivity in the development of robotic systems.