A software architecture for integrated service robot development

This paper presents a computational architecture that addresses the grand challenge problem of system integration. Robotics research has made many advances in sensory processing, control and planning, but few efforts focus on the problem of dynamically integrating the "best available" approaches into a single architecture to support development of integrated systems. The role of architecture is discussed, and a novel approach to intelligent robotic system architecture is presented. This new approach has resulted from the maturation of object-based software technology.