Abstract
This paper presents a software platform for LEGO Mindstorms NXT, named ATON (ASP+TECS On NXT), which is based on a component system for embedded systems, TECS. ATON uses TECS so that memory usage can be optimized by detaching unused device drivers, and also application developers can write their programs smoothly from software models. In order to achieve such features, ATON includes TECS components such as tasks and semaphores which is provided by a Real-Time OS, and device drivers for devices of NXT. A case study on line trace robot development demonstrates effectiveness of ATON.
