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* <u>System organization/decomposition</u> - MIRO uses an abstract machine model, i.e. the system is divided into several distinct layers, as depicted in figure 3. The higher layers can only access the lower layers via their interfaces. In case of MIRO, these layers are:
▲|MIRO device layer - this layer provides classes to interface hardware and abstract the low level hardware details This classes enable access to hardware resources via simple procedure calls.
▲|MIRO service layer - this layer provides service abstractions for sensors and actuators by means of the CORBA interface definition language (IDL). These services are implemented as network transparent objects/CORBA objects. The classes in this layer present the sensors and actuators as generic services. For example the RangeSensor class defines functionality common to the sensors which return range readings such as sonars, lidars and other type of range finders.
▲|MIRO framework layer - on this level functional modules specific to robotics are provided. Examples are mapping, localization, path planning and similar facilities.
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