Mobile robots offer a wide range of applicationsin educational and research fields. Sensing, planning,control, reasoning, and learning are human-like capabilitiesthat can be artificially replicated in a computer-basedrobotic system as software applications. The development ofsoftware for mobile robot application is a complex task dueto the fact that the wide range of robots are composed ofheterogeneous hardware components which need differentdevice software drivers and different low-levelcommunication protocols. This paper presents aClient/Server Message Oriented Middle for Mobile Robotswhich separates the user application from the hardware andlow-level implementation. The middleware has been alreadyported to two different robotic platforms. As a case study, apath planning and self-localization algorithms have beenimplemented and applied successfully.
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