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  Makarenko, A., Brooks, A. & Kaupp, T.
Orca: Components for Robotics
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06), Dec, 2006
Presented at 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06) Workshop on Robotic Standardization, Beijing, China, 11 Oct. - 13 Oct. 2006

Abstract
This paper describes Orca: an open-source software project which applies Component-Based Software Engineering principles to robotics. The paper focuses on the technical aspects of the framework which set it apart from other similar efforts. Among them are the adaption of a commercial middleware package, minimalist approach to framework design, and a commitment to multi-language multi-platform support. The paper explains our decision to use Ice -- a relatively recent entry in the field of general-purpose middleware packages.

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