Principles in Framework Design applied in Networked Robotics*

In recent years, we developed a considerable range of networked robotic applications based on the software framework Finroc. Such systems often require integrating diverse communication technologies, protocols, and computing platforms. In this context, beneficial concepts and approaches applied in the framework are introduced — and their positive impact on flexibility, interoperability, and development effort of resulting applications is discussed. Furthermore, applications are presented and tool support is illustrated.