A Modular Software Framework for Heterogeneous Reconfigurable Robots

  • Florian Schlachter
  • Christopher Schwarzer
  • Benjamin Girault
  • Paul Levi
Conference paper
Part of the Informatik aktuell book series (INFORMAT)


In this paper we present the Symbricator Robot API, a software framework for heterogeneous robot swarms with the ability to aggregate and build modular robotic organisms. This software framework supports different robot types and at the same time hides the complexity of the multi-processor sensor-rich robots to the user. Furthermore, it enables communication and energy sharing amongst swarming and aggregated robots. Based on the development of the Symbrion and Replicator projects, we line out the developed software framework. For application development, we offer a unified expandable software interface for all robot types in order to write swarm and organism controllers without restrictions to the actual underlying hardware


Sensor Memory Software Framework Main Processor Stream Buffer Robot Type 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The “SYMBRION” project is funded by the European Commission within the work programme “Future and Emergent Technologies Proactive” under the grant agreement no. 216342. The “REPLICATOR” project is funded within the work programme “Cognitive Systems, Interaction, Robotics” under the grant agreement no. 216240. Additionally, we want to thank all members of the projects for fruitful discussions.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Florian Schlachter
    • 1
  • Christopher Schwarzer
    • 2
  • Benjamin Girault
    • 1
    • 3
  • Paul Levi
    • 1
  1. 1.Institute of Parallel and Distributed SystemsStuttgartGermany
  2. 2.Institute for Evolution and EcologyTuebingenGermany
  3. 3.École Normale Supérieure de CachanCachanFrance

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