<s>
Robotics	B-Application
middleware	I-Application
is	O
middleware	B-General_Concept
to	O
be	O
used	O
in	O
complex	O
robot	B-Algorithm
control	O
software	O
systems	O
.	O
</s>
<s>
"	O
robotic	O
...	O
middleware	B-General_Concept
is	O
designed	O
to	O
manage	O
the	O
complexity	O
and	O
heterogeneity	O
of	O
the	O
hardware	O
and	O
applications	O
,	O
promote	O
the	O
integration	O
of	O
new	O
technologies	O
,	O
simplify	O
software	O
design	O
,	O
hide	O
the	O
complexity	O
of	O
low-level	O
communication	O
and	O
the	O
sensor	O
heterogeneity	O
of	O
the	O
sensors	O
,	O
improve	O
software	O
quality	O
,	O
reuse	O
robotic	O
software	O
infrastructure	O
across	O
multiple	O
research	O
efforts	O
,	O
and	O
to	O
reduce	O
production	O
costs.	O
"	O
</s>
<s>
It	O
can	O
be	O
described	O
as	O
"	O
software	O
glue	O
"	O
to	O
make	O
it	O
easier	O
for	O
robot	B-Algorithm
builders	O
focus	O
on	O
their	O
specific	O
problem	O
area	O
.	O
</s>
<s>
A	O
wide	O
variety	O
of	O
projects	O
for	O
robotics	B-Application
middleware	I-Application
exist	O
,	O
but	O
no	O
one	O
of	O
these	O
dominates	O
-	O
and	O
in	O
fact	O
many	O
robotic	O
systems	O
do	O
not	O
use	O
any	O
middleware	B-General_Concept
.	O
</s>
<s>
Middleware	B-General_Concept
products	O
rely	O
on	O
a	O
wide	O
range	O
of	O
different	O
standards	O
,	O
technologies	O
,	O
and	O
approaches	O
that	O
make	O
their	O
use	O
and	O
interoperation	O
difficult	O
,	O
and	O
some	O
developers	O
may	O
prefer	O
to	O
integrate	O
their	O
system	O
themselves	O
.	O
</s>
<s>
The	O
Player	B-Application
Project	I-Application
(	O
formerly	O
the	O
Player/Stage	B-Application
Project	I-Application
)	O
is	O
a	O
project	O
to	O
create	O
free	B-Application
software	I-Application
for	O
research	O
into	O
robotics	O
and	O
sensor	O
systems	O
.	O
</s>
<s>
Its	O
components	O
include	O
the	O
Player	O
network	O
server	O
and	O
the	O
Stage	O
robot	B-Algorithm
platform	O
simulators	O
.	O
</s>
<s>
Although	O
accurate	O
statistics	O
are	O
hard	O
to	O
obtain	O
,	O
Player	O
is	O
one	O
of	O
the	O
most	O
popular	O
open-source	O
robot	B-Algorithm
interfaces	O
in	O
research	O
and	O
post-secondary	O
education	O
.	O
</s>
<s>
Most	O
of	O
the	O
major	O
intelligent	O
robotics	O
journals	O
and	O
conferences	O
regularly	O
publish	O
papers	O
featuring	O
real	O
and	O
simulated	O
robot	B-Algorithm
experiments	O
using	O
Player	O
and	O
Stage	O
.	O
</s>
<s>
RT-middleware	B-Application
is	O
a	O
common	O
platform	O
standards	O
for	O
Robots	B-Algorithm
based	O
on	O
distributed	O
object	O
technology	O
.	O
</s>
<s>
RT-middleware	B-Application
supports	O
the	O
construction	O
of	O
various	O
networked	O
robotic	O
systems	O
by	O
the	O
integration	O
of	O
various	O
network-enabled	O
robotic	O
elements	O
called	O
RT-Components	O
.	O
</s>
<s>
The	O
specification	O
standard	O
of	O
RT-components	O
is	O
discussed	O
and	O
defined	O
by	O
the	O
Object	B-Architecture
Management	I-Architecture
Group	I-Architecture
(	O
OMG	O
)	O
.	O
</s>
<s>
Urbi	B-Application
is	O
an	O
open	O
source	O
cross-platform	O
software	O
platform	O
in	O
C++	O
used	O
to	O
develop	O
applications	O
for	O
robotics	O
and	O
complex	O
systems	O
.	O
</s>
<s>
is	O
a	O
distributed	O
object	O
oriented	O
framework	O
for	O
mobile	O
robot	B-Algorithm
control	O
,	O
based	O
on	O
CORBA	B-Architecture
(	O
Common	B-Architecture
Object	I-Architecture
Request	I-Architecture
Broker	I-Architecture
Architecture	I-Architecture
)	O
technology	O
.	O
</s>
<s>
They	O
use	O
TAO	O
(	O
The	O
ACE	O
ORB	O
)	O
as	O
their	O
ORB	O
(	O
Object	O
Request	O
Broker	O
)	O
,	O
a	O
CORBA	B-Architecture
implementation	O
designed	O
for	O
high	O
performance	O
and	O
real	O
time	O
applications	O
.	O
</s>
<s>
Currently	O
supported	O
platforms	O
include	O
Pioneers	O
,	O
the	O
B21	O
,	O
some	O
robot	B-Algorithm
soccer	O
robots	B-Algorithm
and	O
various	O
robotic	O
sensors	O
.	O
</s>
<s>
is	O
an	O
open-source	O
software	B-Architecture
framework	I-Architecture
for	O
robotics	O
for	O
developing	O
loosely	O
coupled	O
modules	O
.	O
</s>
<s>
Modules	O
for	O
connecting	O
to	O
simulators	O
and	O
generic	O
robot	B-Algorithm
drivers	O
are	O
provided	O
.	O
</s>
<s>
(	O
Robot	B-Algorithm
Construction	O
Kit	O
)	O
,	O
is	O
a	O
software	B-Architecture
framework	I-Architecture
for	O
the	O
development	O
of	O
robotic	O
systems	O
.	O
</s>
<s>
,	O
The	O
NVIDIA	O
Isaac	O
Software	O
Development	O
Kit	O
(	O
SDK	O
)	O
is	O
a	O
developer	O
toolbox	O
for	O
accelerating	O
the	O
development	O
and	O
deployment	O
of	O
Artificial	O
Intelligence-powered	O
robots	B-Algorithm
.	O
</s>
<s>
The	O
SDK	O
includes	O
the	O
Isaac	O
Robot	B-Algorithm
Engine	O
,	O
packages	O
with	O
high-performance	O
robotics	O
algorithms	O
(	O
to	O
perform	O
perception	O
and	O
navigation	O
)	O
,	O
and	O
hardware	O
reference	O
applications	O
.	O
</s>
<s>
Developers	O
can	O
quickly	O
and	O
easily	O
train	O
and	O
test	O
their	O
robots	B-Algorithm
in	O
detailed	O
,	O
highly	O
realistic	O
scenarios	O
.	O
</s>
<s>
(	O
Robot	B-Application
Operating	I-Application
System	I-Application
)	O
is	O
a	O
collection	O
of	O
software	B-Architecture
frameworks	I-Architecture
for	O
robot	B-Algorithm
software	O
development	O
on	O
a	O
heterogeneous	O
computer	B-Architecture
cluster	I-Architecture
.	O
</s>
<s>
ROS	B-Application
provides	O
standard	O
operating	O
system	O
services	O
such	O
as	O
hardware	B-Operating_System
abstraction	I-Operating_System
,	O
low-level	O
device	B-Application
control	I-Application
,	O
implementation	O
of	O
commonly	O
used	O
functionality	O
,	O
message-passing	B-Operating_System
between	I-Operating_System
processes	I-Operating_System
,	O
and	O
package	O
management	O
.	O
</s>
<s>
YARP	B-Language
is	O
an	O
open-source	O
software	O
package	O
,	O
written	O
in	O
C++	O
for	O
interconnecting	O
sensors	O
,	O
processors	O
,	O
and	O
actuators	O
in	O
robots	B-Algorithm
.	O
</s>
