Abstract
Nowadays, developments of so-called "Home-use robot", or "office-use robot" have been very active. The challenges to realize such robots are: (1)navigation in realistic environment, (2)performing multiple tasks,and (3)tradeoff between their performances and costs. One of solutions for these challenges is customizability for each situation like a personal computer. In this paper, sensory data processing middlewares for a mobile robot are proposed, These are SSM for sensor information sharing, OGMM for obstacle detection, and POET for localization. These middlewares abstracts unified information from multimodal external sensors. This paper illustrates design of these middlewares and experimental results using several external sensors.
