Omar A. Fres and Ignacio González Alonso
Mobile robot, virtual machine, sensor fusion, sensor substitution, programming languages, Middleware, Web Services
This document describes a Parrot Virtual Machine extension, based on Parrot Intermediate Representation (PIR) language and Web Services. It is used for executing mobile robots programs in several robots with different hardware and software characteristics. A Robotic Intermediate Language to program robots and how it is adapted to PIR language is shown. The result is an architecture that increases the portability of robotic programs, improving software reuse and decoupling virtual machine implementation of robot adapters, without relevant execution time costs.
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