DARC: Next generation decentralized control framework for robot applications

Abstract

This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.