The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective
Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
Abstract
The widespread use of robotics in new application domains beyond industrial workplace settings necessitates systems that demonstrate functionalities far exceeding those of classical industrial robotic machines. These emerging applications involve complex tasks that vary and that must be carried out within a partially unknown environment, requiring autonomy and adaptability that further increase the intricacy of the system software architecture. Meeting the demands and consequent complexity of robotic systems and their control necessitates software infrastructures that can be quickly and seamlessly adapted to these requirements, while providing transparent and standardized interfaces to robotics developers and users.