로봇 서비스의 동적 재구성을 위한 Component Manager

It is important to reconfigure services that consist of components, because robot services will be developed in the component level, and become more intelligent and complex. The UPnP (Universal Plug and Play) is a middleware that has many advantages for future robot in dynamic distributed computing environments such as ubiquitous computing environments. In this paper, we propose a component manager and a UPnP connect service to enable dynamic service reconfiguration, and also show by real robot experiments that the UPnP robot middleware is useful and effective for service reconfigure.