An open sensing architecture to autonomous mobile robots

In this paper, a system that allows the connection of different types of sensors and sensor combinations is presented. The designed system is considered a black box from the point of view of the sensors, and provides the users with a multisensor fusion method to prove different sensor sets, which can be complementary and/or redundant, in order to save the users from creating a new structure for each sensorial system. The design of our architecture is meant to be clear and versatile, to let any designer make use of their own algorithms of control, fusion, planning, etc., without needing to develop a completely new one. The ROOM methodology (real-time object-oriented modeling) has been used to develop the system, due to its features: it´s specially designed to analyse, carry out and implement real time distributed system