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Acropolis: A Fast Protoyping Robotic Application
[摘要] Acropolis is an open source middleware robotic framework for fast software prototyping and reuse of program codes. It is made up of a core software and a collection of several extension modules called plugins. Each plugin encapsulates a specific functionality needed for robotic applications. To design a robot behavior, a circuit of the involved plugins is built with a graphical user interface. A high degree of decoupling between components and a graph-based representation allow the user to build complex robot behaviors with minimal need for code writing. In addition, the Acropolis core is hardware platform independent. Well-known design patterns and layered software architecture are its key features. Through the description of three applications, we illustrate some of its usability.
[发布日期]  [发布机构] 
[效力级别]  [学科分类] 自动化工程
[关键词] robotic framework;robotic middleware architecture;fast prototyping;process triggering [时效性] 
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