The use of multiple robots to accomplish tasks has been common for many years. The term, cooperative, is used to designate the nature of the interactions among a team of robots. However, there are many differences in how these robots interact. Some groups of robots appear, on the surface, to cooperate but are not actually aware of the other robots. Other groups share goals and objectives. Our research investigated a diverse collection of multiple-robot systems. This paper highlights eight examples. The variations of interaction that we found were used to create a robotic-interaction taxonomy. Each robotic team is measured against three dimensions for placement into the taxonomy. Terminology for different types of cooperation is suggested.

This paper introduces the model-order-mapping (MOM) approach for specifying software/document measures. A MOM specification requires that the important attributes of the document be identified, a model that captures the attributes be chosen, and a mapping from the document to the model be specified. A partial ordering on the model must be developed as well as an order-preserving mapping from the model to an answer set. The relationship of the approach to measurement theory is shown. Validation of the MOM specification is presented.Properties of software measures that are guaranteed by a validated MOM specification and those that can be proved from a validated specification are described.

A descriptive process model of software re-engineering is presented. The overall structure of the process model is defined by the re-engineering approach. Three re-engineering approaches are described: lump sum, incremental, and evolutionary. The focus is on the breadth of possible tasks.>

Attention is given to the software process model (SPM), which was introduced by A.L. Baker et al. (1987). The SPM models software development by modeling the evolution of the full set of documents produced in software development. The authors show the usefulness of the SPM as a management tool by applying it to a software project. Since the SPM shows patterns of the software product development in greater detail than the current tools available, it provides management with a more effective means of visualizing and controlling software projects. The SPM has the capability to alert management to problems during the development process. This was illustrated when the SPM indicated a problem during the design phase. The problem was made known by the pattern generated by the continuous changes to design specifications when initial code was completed. It was shown that the SPM can be used to ensure consistencies between documents. By plotting changes in documents, both developers and managers are alerted as to whether or not a change is incorporated in other documents.>

The authors define a software process model (SPM). The SPM is a model of evolution of the full set of documents produced in a software project. It is a general model for software development using any development approach, providing a framework for measuring, analyzing, and understanding the software development process. The authors use the model to characterize formally research in software measures and metrics. Data obtained from two software projects are presented in the SPM format.>

A revision is presented of E.B. Swanson's classification scheme for software maintenance (1976). The proposed classification system can be objectively determined from the changes that occur between versions of the software. The system was developed by analyzing the changes that occur between different versions of COBOL programs that were produced in commercial environments.>