A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a plethora of reference designs and implementations. As the software architecture defines the framework in which all components are implemented, it is naturally a very important aspect of a mobile robot system. In this chapter, we overview the requirements that the particular problem domain (a mobile robot system) imposes on the software framework. We discuss some of the current design solutions, provide a historical perspective on common frameworks, and outline directions for future development.

翻译：软件架构定义了大型计算系统的蓝图，因此是设计和开发工作的关键部分。这一任务在移动机器人领域已被广泛探索，产生了大量参考设计与实现方案。由于软件架构定义了所有组件实现所依托的框架，它自然成为移动机器人系统中极为重要的方面。本章概述了特定问题领域（移动机器人系统）对软件框架提出的需求，讨论了当前部分设计解决方案，从历史角度审视了常见框架，并展望了未来发展方向。