Social robotics poses tough challenges to software designers who are required to take care of difficult architectural drivers like acceptability, trust of robots as well as to guarantee that robots establish a personalized interaction with their users. Moreover, in this context recurrent software design issues such as ensuring interoperability, improving reusability and customizability of software components also arise. Designing and implementing social robotic software architectures is a time-intensive activity requiring multi-disciplinary expertise: this makes it difficult to rapidly develop, customize, and personalize robotic solutions. These challenges may be mitigated at design time by choosing certain architectural styles, implementing specific architectural patterns and using particular technologies. Leveraging on our experience in the MARIO project, in this paper we propose a series of principles that social robots may benefit from. These principles lay also the foundations for the design of a reference software architecture for social robots. The goal of this work is twofold: (i) Establishing a reference architecture whose components are unambiguously characterized by an ontology thus allowing to easily reuse them in order to implement and personalize social robots; (ii) Introducing a series of standardized software components for social robots architecture (mostly relying on ontologies and semantic technologies) to enhance interoperability, to improve explainability, and to favor rapid prototyping.

社交机器人给软件设计师带来了严峻的挑战，他们需要处理困难的架构驱动因素，如可接受性、机器人的信任以及保证机器人与其用户建立个性化交互。此外，在这种情况下，还会出现反复出现的软件设计问题，例如确保互操作性、提高软件组件的可重用性和可定制性。设计和实施社交机器人软件架构是一项耗时的活动，需要多学科专业知识：这使得快速开发、定制和个性化机器人解决方案变得困难。这些挑战可以在设计时通过选择特定的架构风格、实现特定的架构模式和使用特定的技术来缓解。利用我们在 MARIO 项目中的经验，在本文中，我们提出了一系列社交机器人可能受益的原则。这些原则也为设计社交机器人参考软件架构奠定了基础。这项工作的目标是双重的：(i)建立一个参考架构，其组件的特征明确地以本体为特征，从而允许轻松重用它们以实现和个性化社交机器人；(ii)为社交机器人架构（主要依赖本体和语义技术）引入一系列标准化软件组件，以增强互操作性，提高可解释性，并有利于快速原型设计。