Expedient Integration of a Laser-Based Feature Detector

David Gustafson, Aaron Chleborad, Andrew King

For our programming convenience we have implemented an extensible robotic control framework in the Java programming language. This framework manages some of the tedious details in robotics programming (sensor - behavior integration and concurrency issues) as well as enforces a modular programming style that works well when a team is involved with robot software development. We discuss how this framework allows for modular software development. As an example we show how a laser range data based object detection algorithm can be implemented as a framework sensor module and how information provided by that new module can be utilization by the planning and mobility modules.

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