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Acropolis: A Fast Protoyping Robotic Application

Vincent Zalzal, Raphael Gava, Sousso Kelouwani, Paul Cohen

Article (2009)

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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.

Uncontrolled Keywords

robotic framework; robotic middleware architecture; fast prototyping; process triggering; process triggering

Subjects: 2600 Robotics > 2600 Robotics
2700 Information technology > 2700 Information technology
Department: Department of Electrical Engineering
Department of Computer Engineering and Software Engineering
Research Center: Other
Grant number: RGPIN3890- 01
PolyPublie URL: https://publications.polymtl.ca/3395/
Journal Title: International Journal of Advanced Robotic Systems (vol. 6, no. 1)
Publisher: SAGE Publications
DOI: 10.5772/6772
Official URL: https://doi.org/10.5772/6772
Date Deposited: 13 Dec 2018 13:00
Last Modified: 11 Nov 2022 14:16
Cite in APA 7: Zalzal, V., Gava, R., Kelouwani, S., & Cohen, P. (2009). Acropolis: A Fast Protoyping Robotic Application. International Journal of Advanced Robotic Systems, 6(1), 8. https://doi.org/10.5772/6772


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