Composite component framework for RT-middleware (robot technology middleware)

We have studied a framework of RT-component which promotes application of robot technology (RT) in various field. In this paper, we discussed robotic system development methodology and our RT-middleware concepts. The system development methodology using RT-component, and new framework to make composite component for RT-component is shown. An evaluation of composite component framework, which realizes low level and real-time composition of independent RT-components, is derived. Finally, conclusion and future are described