| Directory > Computers > Robotics > Software > Control PC/104 Robotics Drivers
For PC/104+ users. Includes Linux drivers for the ACCES 104-DIO-48S digital I/O board, up to 8
Polaroid ultrasonic sensors, and an interface to a PIC controller for motor control with encoder
feedback. Free Software written in C and licensed under the GNU GPL.
http://sourceforge.net/projects/dio48s/
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Mobile and Autonomous Robotics Integration Environment
MARIE is a development and integration environment built over a communication layer. Its main goal
is to integrate other robotics software such as Player/Stage, CARMEN, and RobotFlow. MARIE is Free
Software licensed under the GNU GPL.
http://marie.sourceforge.net/
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BotController
Control software for Khepera, Koala or Hemisson robots. Connects to robot via PC serial port.
Provides a graphical representation and a powerful and easy to use BASIC editor. Commercial,
proprietary software for MS Windows.
http://www.mobotsoft.com/botcontroller.htm
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PUMA Communicator
Software to replace the old 5 1/4" floppy drive supplied with PUMA 500 robotis from Unimation.
Allow user to write VAL programs off-line and upload it later from PC to the PUMA robot.
Commercial, proprietary software for Windows.
http://www.geocities.com/puma_com2003/
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GVG SLAM
Simultaneous Localization and Mapping (SLAM) software that generates a map called a generalized
Voronoi graph (GVG). Written in C.
http://voronoi.sbp.ri.cmu.edu/projects/prj_hslam.html
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RAP System
The Reactive Action Packages (RAP) system provides a plan and task representation structured to
make a task's expected behavior evident. Written in Common Lisp. Copyright allows educational use
only.
http://people.cs.uchicago.edu/~firby/raps/
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SPLAT
The Simple Provisional Language for Actions and Tasks provides both a language for specifying
control laws and a runtime environment for executing and monitoring them. Based on RScheme. SPLAT
is Free Software licensed under the GNU GPL.
http://www.cs.utexas.edu/users/qr/robotics/splat/
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EusLisp Robot Programming Language
Object-oriented Lisp-based programming system designed specifically for the development of robotics
software.
http://www.etl.go.jp/~matsui/eus/
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xbot
A modular bot software environment based on the .Net framework for autonomous neuronal network,
script or map driven mobile omniwheel robots using the SV203 controller. Free Software licensed
under the GNU GPL.
http://xbot.sourceforge.net/
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ActivMedia Robotics Interface for Applications
ARIA is an OO C++ library for controlling ActivMedia mobile robots. Provides dynamic control of
velocity, heading, and other navigation settings as well as I/O bus, gripper, pan-tilt, and
bumpers. ARIA is Free Software licensed under the GNU GPL.
http://www.activrobots.com/SOFTWARE/aria.html
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KControl
A Linux-based control and monitor program for the Khepera robot. C++ source is included. License
prohibits most non-educational use.
http://www.informatik.uni-leipzig.de/~pantec/khepera/
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Peeves Control Program
PID-based odometry and dead-reckoning for a mobile robot with differential steering, implemented
for a Lego RCX module. Detailed article describes theory of operation. Open Source software written
in the NQC language and released under an MIT license.
http://www.seattlerobotics.org/encoder/200108/using_a_pid.html
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CMU Mobile Autonomous Robot Software
CMU MultiRobot Lab MARS packages are complete, effective and scalable software for autonomous robot
teams. Support for integrated perception, reasoning, learning, communication and cooperative
strategies that solve complex multiagent tasks. Free Software released under the GNU GPL.
http://www-2.cs.cmu.edu/~multirobotlab/MARS/
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jabot
Event-driven controller for small remote robots. This approach uses a MIDI-style object mechanism
for controlling over the internet. JINI and Java based.
http://sourceforge.net/projects/jabot/
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EGgO Educational Robotics Platform
A software platform and associated hardware with a focus on educational use. Software can handle
100+ I/O ports, up to 12-16 servos and many DC motors. EGgO is written in Python, runs on Linux and
is Free Software licensed under the GNU GPL.
http://eggo.sourceforge.net/
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Robosoft
A multiprocess robotic "nervous system" that will allow a four-legged robot to control
itself autonomously in nine degrees of freedom. Robosoft is Open Source C++ code under the BSD
license.
http://sourceforge.net/projects/robosoft/
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JRobot
Java Interface for Mitsubishi RVM1 Robot. Control and camera interfaces are provided. Open Source
software released under the BSD license.
http://jrobot.sourceforge.net/home.htm
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4 Axis Stepper Control for CNC
Windows and DOS-based software is provided to control homebrew, stepper-based, 4-axis CNC hardware
that cuts parts for sailplane models.
http://www.geocities.com/bickius3000/
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Robot Control C Library
RCCL is a library of C routines for doing real-time control and graphic simulation of a number of
industrial robots, primarily PUMAs. License allows non-commercial use only.
http://www.cs.ubc.ca/spider/lloyd/rccl.html
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Neural Net Robot Brain
A simple robot brain based on a Hopfield neural network implemented in Visual Basic. Two bump
sensors provide input for controlling two motors.
http://home.zonnet.nl/bvandam/neurbas.html
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FIPA-OS
A component-based Java toolkit enabling rapid development of FIPA compliant physical agents. Source
code is available under an Open Source-like license.
http://fipa-os.sourceforge.net/
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SAPHIRA
A robot control system developed at SRI's AI Center as an integrated architecture for robot
perception and action. C/C++ source include. Non-commercial use only.
http://www.ai.sri.com/~konolige/saphira/
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Dave's Multi-tasking Sumo Robot Program
Multi-tasking control program for a Sumo robot equipped with multiple sensors. C source code for
the 68HC11 Handiboard.
http://www.ece.concordia.ca/~dave/project/soft.html
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Nomadic.Sourceforge.Net
Official production releases and source code from the now defunct Nomadic Technologies, Inc. Source
code to all drivers, libraries and applications is now under the GNU GPL license.
http://nomadic.sourceforge.net/
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Carnegie Mellon Robot Navigation Toolkit
CARMEN is modular, Open Source C software designed to provide basic navigation primatives
including: base and sensor control, obstacle avoidance, localization, path planning,
people-tracking, and mapping. Licensed under the GNU GPL.
http://www-2.cs.cmu.edu/~carmen/
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Scene
An Open Source C++ library for sequential localisation and map-building. Modular design makes it
suitable for robot navigation in 1D, 2D or 3D with arbitrary sensing capabilities. Licensed under
GNU GPL.
http://www.robots.ox.ac.uk/~ajd/Scene/
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DRobot
Reversed-engineered, Open Source control software for robots made by the now defunct Nomadic
Technologies, Inc.. Written in C and released under the GNU GPL.
http://drobot.sourceforge.net/
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RHexLib
A collection of C++ libraries that form the Open Source control software used in the RHex hexapod
robot. The code was developed for the QNX RTOS but also runs on Linux. Released under the BSD
license.
http://rhex.sourceforge.net/
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Modular Controller Architecture 2
A modular, network transparent, realtime capable, C/C++ framework for controlling robots. The main
plattform is Linux/RTLinux but Win32 and Solaris also supported. MCA-2 is Free Software licensed
under the GNU GPL.
http://mca2.sourceforge.net/
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Autopilot
A complete Unmanned Aerial Vehicle (UAV) control system with 3 axis IMU/INS+GPS. Autopilot is Free
Software and, along with the associated hardware designs, is licensed under the GNU GPL.
http://autopilot.sourceforge.net/
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step
C source code for a Linux stepper motor controller that can control up to 3 unipolar steppers
through a PC parallel port. Free Software licensed under the GNU GPL.
http://digilander.libero.it/nastero/projects_step_eng.htm
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ServoMaster
A platform independent servo controller driver compatible with FerretTronics and Phidget boards.
Java and C++ versions. Free Software licensed under the GNU GPL.
http://servomaster.sourceforge.net/
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Visual Servo Automation
VSA provides MS Windows-based motion control compatible with servo controllers commonly used in
robotics applications such the Mini SSC, SV203, and SMI boards. VSA is proprietary, commercial
software.
http://www.brookshiresoftware.com/
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NROSoft Robotics Software
BASIC Stamp code used by the GearGrinders (Team 112) in the FIRST robotic competition. Source code
for the 2001 and 2002 events is available.
http://www.geocities.com/nrosoft/
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Dave's Robotic Operating System
An Open Source project at the Australian National University. DROS is a modular framework for
controlling a wide range of mobile robots. Coded in C++ and Perl. Licensed under the GNU GPL.
http://www.dros.com/
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MotoRobots Software Libraries
A collection of Open Source embedded software libraries for mobile robotics applications, targeting
Motorola 68K/ColdFire and PowerPC micros. The code is written in C, C++, and assembler and licensed
under the GNU LGPL.
http://www.motorobots.org/
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