A Software System for Robotic Learning by Experimentation

The goal of this work is to develop an integration framework for a robotic software system which enables robotic learning by experimentation within a distributed and heterogeneous setting. To meet this challenge, the authors specified, defined, developed, implemented and tested a component-based architecture called XPERSIF. The architecture comprises loosely-coupled, autonomous components that offer services through their well-defined interfaces and form a service-oriented architecture. The Ice middleware is used in the communication layer. Additionally, the successful integration of the XPERSim simulator into the system has enabled simultaneous quasi-realtime observation of the simulation by numerous, distributed users