The Robotic Development Subsystem

The BABEL ROBOTIC DEVELOPMENT SUBSYSTEM (BRDS) addresses the problem of designing low-level modules for robotics control architectures under the BABEL development environment. These modules are typically developed by different researchers or students and their integration into any high-level architecture represents a big challenge due to the heterogeneity and the variety of involved tasks.

This specification aims to normalize the structure of the low-level part of robotics control architectures, related with sensory and motor issues. Their interfaces are normalized in an effort to give a long-term stabilized repertory of modules, as well as leading to architectures largely independent of the particular robotic platform they are executed on. Architecture designers are free to specify the high-level modules (world modeling, task planning or motion planning) as desired and exploiting the robot-independent services offered by this low-level architecture.

You can navigate through the BRDS documentation by following these links:

• Index
• Motivation
• Overview
• Interfaces
• Modules
• The RPD and APP databases
• Data Types
• Event Codes
• RPD_Server
• APP_Server
• Visual RPD Editor
• ACHRIN

• Tutorials:
  • Architecture Tutorial: Retrieve laser scans