Interfacing different layers of a multilayer architecture for sensorimotor systems using the object-oriented framework SMARTSOFT

Advanced mobile robots have to cope with many different situations and have to fulfil their tasks even in dynamic environments. Furthermore, there is an increasing demand that those systems perform not only a single task but show a whole set of different capabilities. This includes the concurrent and interruptable execution of several tasks. Reliably performing different tasks over long periods of time not only requires advanced basic skills, but also an appropriate robot control architecture. This includes, e.g., mechanisms to coordinate the execution of competing tasks. We present the architecture used on our B21 demonstrator of the SFB 527. A special emphasis is laid on aspects of our supporting software framework, SMARTSOFT, and the implemented set of skills.