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Acropolis: A Fast Protoyping Robotic Application

Vincent Zalzal, Raphael Gava, Sousso Kelouwani and Paul Cohen

Article (2009)

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Cite this document: Zalzal, V., Gava, R., Kelouwani, S. & Cohen, P. (2009). Acropolis: A Fast Protoyping Robotic Application. International Journal of Advanced Robotic Systems, 6(1), p. 8. doi:10.5772/6772
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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

Open Access document in PolyPublie
Subjects: 2600 Robotique > 2600 Robotique
2700 Technologie de l'information > 2700 Technologie de l'information
Department: Département de génie électrique
Département de génie informatique et génie logiciel
Research Center: Autre
Grant number: RGPIN3890- 01
Date Deposited: 13 Dec 2018 13:00
Last Modified: 14 Dec 2018 01:20
PolyPublie URL: https://publications.polymtl.ca/3395/
Document issued by the official publisher
Journal Title: International Journal of Advanced Robotic Systems (vol. 6, no. 1)
Publisher: SAGE Publications
Official URL: https://doi.org/10.5772/6772


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