Jde-neoc: Component oriented software architecture for robotics

Abstract

In this paper we present our software framework for robotic applications, jde-neoc. This is the second implementation of our cognitive behavior-based architecture JDE, and it is aimed to overcome some of the limitations observed in three years using the first one. jde-neoc uses schemas as the basic component of robot applications, which are combined in dynamic hierarchies to unfold the global behavior. Each schema is built separatedly into a plugin and dynamically linked to the framework when needed. It keeps its own graphical user interface. Some tools like a hierarchy oscilloscope and a 3D sensors-and-motors GUI have been created and added to the framework.