Brugali, D.D.BrugaliBroten, G.S.G.S.BrotenCisternino, A.A.CisterninoColombo, D.D.ColomboFritsch, J.J.FritschGerkey, B.B.GerkeyKraetzschmar, GerhardGerhardKraetzschmarVaughan, R.R.VaughanUtz, H.H.Utz2022-03-042022-03-042007https://publica.fraunhofer.de/handle/publica/21507610.1007/978-3-540-68951-5_15In the software community, a framework indicates an integrated set of domainspecific software components [CS95] which can be reused to create applications. A framework is more than a library of software components: It defines the common architecture underlying the particular applications built on the framework. Frameworks are a powerful development approach as they consist of both reusable code (the component library) and reusable design (the architecture).en005Trends in robotic software frameworksbook article