期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2009
卷号：6
期号：1
DOI：10.5772/6772
语种：English
出版社：SAGE Publications
摘要：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.
关键词：robotic framework; robotic middleware architecture; fast prototyping; process triggering
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