Rovim: A Generic and Extensible Virtual Machine for Mobile Robots

Abstract

This paper describes a system based on a virtual machine capable of executing a program on different mobile robots with different hardware and software profiles. We present a generic intermediate language and a set of sensor abstractions that attempt to decouple the software from the hardware for each robot. The result is a system designed to increase the portability of robot programs and software reuse, writing software once and running it on many robots.