CoRoBa, a multi mobile robot control and simulation framework

This paper describes on-going development of a multi robot control framework named CoRoBa. CoRoBa is theoretically founded by reifying Real Time Design Patterns. It uses CORBA as its communication Middleware and consequently benefits from the interoperability of this standard. A multi-robot 3D simulator written in Java3D integrates seamlessly with this framework. Several demonstration applications have been developed to validate the design and implementation options.