BALT & CAST: Middleware for Cognitive Robotics (original) (raw)

In this paper we present a toolkit for implementing architectures for intelligent robotic systems. This toolkit is based on a previously developed architecture schema (a set of architecture design rules). The purpose of both the schema and toolkit is to facilitate research into information-processing architectures for state-of-the-art intelligent robots, whilst providing engineering solutions for the development of such systems. A robotic system implemented using the toolkit is presented to demonstrate its key features.