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=== RT-middleware ===
[[RT middleware|RT-middleware]] is a common platform standards for Robots based on distributed object technology.<ref>Noriaki ANDO, Takashi SUEHIRO, Kosei KITAGAKI, Tetsuo KOTOKU, Woo-Keun Yoon, "RT-Middleware: Distributed Component Middleware for RT (Robot Technology)", 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), pp.3555-3560, 2005.08, Edmonton, Canada</ref> RT-middleware supports the construction of various networked robotic systems by the integration of various network-enabled robotic elements called [[RT-Components]]. The specification standard of RT-components is discussed and defined by the [[Object Management Group]] (OMG).<ref>[http://www.omg.org/spec/RTC/1.0/ Robotics Technology Component Specification version 1.0], Object Management Group (OMG)</ref>
=== Urbi ===
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