A Multi-Layer Distributed Development Environment
for Mobile Robotics

Gregory Dudek                 
Michael Jenkin

Mobile robotic
devices combining sensors, actuators, and computers are
unique, complex devices which may be difficult to model from an abstract
point of view. This paper presents a software development system which
builds an abstraction of a robotic environment. This abstraction allows
external software to interact with either a simulated robot and environment or
to a real robot complete with sensors. 
The implementation is distributed
across a network, and allows software to run on remote hardware thus taking
advantage of any specialized hardware available on the network.