BALT & CAST: Middleware for Cognitive Robotics

In this paper we present a toolkit for implementing architectures for intelligent robotic systems. This toolkit is based on an architecture schema (a set of architecture design rules). The purpose of both the schema and toolkit is to facilitate research into information-processing architectures for state-of-the- art intelligent robots, whilst providing engineering solutions for the development of such systems. A robotic system implemented using the toolkit is presented to demonstrate its key features.