Ubiquitous robotic companion systems implemented with standard tools for integration

This paper describes a paradigm which implements ubiquitous environment with service robots and equipments. The paradigm provides the method for integration of service robots and equipments in the environment as well as that for integrating components in service robot. Also it suggests the communication among the robots and equipments as well as communication among the components of a robot. It is used for implementation of distributed URC systems which is installed in several universities and Institute in Korea. The field application demonstrates the feasibility of the proposed method.