ROBOT SKILL ABSTRACTION FOR AD ARCHITECTURE

In this paper a set of tools is presented. This set of tools allows obtaining an approach to the development of an architecture for personal robots control which is based on robot skills, specifically for the AD Architecture developed in the Robotics Lab research group at the University Carlos III in Madrid. The paper describes three different software components: an event emission and capture system, an information distribution system and a skill template class. A brief description of the AD architecture is done in order to understand how the components must work. Then the three tools that are used are explained in detail. A description of our robot, Maggie, in which the tools have been combined, is done. Finally, the development stage and the experimental results are shown.