(To be extended)

• Granularity of components and services
• Abstraction-level of services

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This document contains material from:

• Lotz2018 Alex Lotz, "Managing Non-Functional Communication Aspects in the Entire Life-Cycle of a Component-Based Robotic Software System", Dissertation, Technische Universität München, München 2018.
• Lutz2017 Matthias Lutz, “Model-Driven Behavior Development for Service Robotic Systems: Bridging the Gap between Software- and Behavior-Models,” 2017. (unpublished work)
• Stampfer2018 Dennis Stampfer, "Contributions to System Composition using a System Design Process driven by Service Definitions for Service Robotics". Dissertation, Technische Universität München, München, Germany, 2018.