Utz, H.H.UtzMayer, G.G.MayerKaufmann, U.U.KaufmannKraetzschmar, GerhardGerhardKraetzschmar2022-03-042022-03-042007https://publica.fraunhofer.de/handle/publica/21507710.1007/978-3-540-68951-5_19Application frameworks play a major role in fostering reusability of robotic software solutions. Frameworks foster the reuse of code and design and offer a convenient model of object-oriented extensibility. They provide a powerful concept for providing generic components of well-understood, modular solutions for robotics. Nevertheless, few such frameworks exist in robotics, especially at the application level.en005book article