Behavior-based Iterative Component Architecture for robotic applications with the Nao humanoid

摘要

Software architectures are essential for robotic applications development. They organize perception and actuation capabilities in order to achieve the goals the robots are developed for. In this paper we present the second major release of our software architecture, named BICA, that aims to be applied in a wide range of applications using the Nao humanoid robot as the hardware platform. This architecture has been designed using state-of-the-art concepts to be reliable, extensible and ecient and the second release improves some of the shortcomings observed along the experience with the initial design. In order to prove these features, this architecture has been tested in dierent domains, mainly the Robocup Standard Platforms League, which is very demanding, competitive and dynamic. Around this software architecture we have developed an useful set of tools to design, setup and debug the perceptive habilities and the behaviors the robot performs.