Reichardt, MaxFöhst, TobiasBerns, KarstenHorbach, Matthias2019-03-072019-03-072013978-3-88579-614-5https://dl.gi.de/handle/20.500.12116/20695Robotic software frameworks have critical impact on development effort and quality of robot control systems. This paper provides a condensed overview on the complex topic of robotic framework design. Important areas of design are discussed – together with design principles applied in state-of-the-art solutions. They are related to software quality attributes with a brief discussion on their impact. Based on this analysis, the approaches taken in the framework FINROC are briefly presented.enText/Conference Paper1617-5468