Software architecture for an exploration robot based on Urbi

Abstract

We present the software architecture of a mobile robot whose goal is to autonomously explore an unknown indoor environment and to build a semantic map containing high-level information. This robot was developed under the Panoramic and Active Camera for Object Mapping (PACOM) project whose goal is to participate in the French exploration and mapping contest CAROTTE. The software architecture puts together a large set of software components that deals with mapping, planning, object recognition and exploration. This architecture is based on the Urbi framework. We present the main functionalities of Urbi that were used for this project and show in detail how these capabilities make it possible to integrate all these modules. 1