Service Oriented Architecture (SOA) is an architectural style that has been explored in recent years for the development of software systems in different application domains. The increasing use of SOA is mainly due to its inherent ability to provide modularity, improve scalability and reuse in the software systems. SOA has also been recently investigated to the development of embedded systems, aiming at minimizing limitations related to processing capability and increasing of the versatility of the application areas and extensibility of such systems. However, the development of embedded systems based on SOA is not a trivial activity. This activity is particularly complex when quality requirements, such as availability and reliability of services, should be considered as essential for these systems. Nevertheless, it is observed that issues related to the quality of embedded systems based on SOA have not been extensively investigated. SOA has also been explored in the development of a specific type of embedded system: the autonomous robotic systems. It is worth highlighting that autonomous robotic systems have presented considerable relevance to the society, sometimes in applications directly related to the human health and life. However, issues related to the quality in the development of such systems have not been also explored. Thus, the main objective of this project is to conduct an investigation on how and which qualities requirements should be considered during the design and implementation of autonomous robotic systems based on SOA. It is noteworthy that special attention will be taken to the design of the software architectures of these systems. Therefore, we intend to establish a set of guidelines, represented by processes, methods and techniques, that can contribute to the development of SOA-based autonomous robotic systems that encompass quality requirements.
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