SymbricatorRTOS: A flexible and Dynamic framework for bio-inspired robot control systems and evolution

One of the main aspects of the dasiaSYMBRIONpsila and dasiaREPLICATORpsila projects is that the robots can aggregate to form a multi-robot organism. For this reason the control mechanisms have to be able to control a single robot, a swarm of robots or an aggregated collective organism. To break down the complexity of development and to take the interaction with the environment and other robots into account, bio-inspired and evolutionary concepts are applied. In this paper we describe the underlying software architecture for the projects to enable different controller types, evolution and learning.