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Service-oriented computing (SOC) has been traditionally applied in Web-based applications. The recent development shows that SOC can play an important role in embedded systems and robotics applications to address their limitations in capacity, versatility of application fields, and extensibility in requirements of such systems. This paper presents the design, implementation, and simulation results of an autonomous security robot based on SOC and event-driven programming. The floor exploration unit is the focus of this paper. Each component of the robot is wrapped as a service and all these services are distributed on different computer and they collaborate in a loosely coupled fashion. All the services are orchestrated by a coordination service, so that the mission is well coordinated and efficient. The objectives of the project are threefold: to prove the suitability of SOC concepts in such systems; the compatibility of the board to off-the-shelf sensors and actuators; and the energy effectiveness and performance of the new embedded system hardware developed by Intel.