Heterogeneous sensors alignment on ART for map construction

This paper proposes a common platform called automatic robot toolkit (ART), which offers a message stream dispatch mechanism and system development toolkit for robots. Composing a robotic system requires several heterogeneous components that are different hardware, algorithms and software. Each component is integrated into a well designed robotic system. Those systems are designed based on a particular system and it can be hard to have integration with or within other systems. Nowadays, robotics are more and more complex and intelligent. A common platform could be used to integrate those components according to the object concept. Therefore, the best way is to develop a common platform to integrate the already existing or developing techniques. The proposed common platform offers the message channels for each technique component to subscribe and publish the component´s information. The common platform is designed based on the message oriented middleware (MOM) concept which effectively abstracts a multi-channel message transport layer to enable asynchronous exchange of data and event notification. Using this middleware toolkit, one can develop the control, identification, or intelligent algorithms without coding platform constraint.