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[https://www.openhub.net/p/miro-middleware/ Miro] is a distributed object oriented framework for mobile robot control, based on [[CORBA]] (Common Object Request Broker Architecture) technology.
The Miro core components have been developed under the aid of ACE (Adaptive Communications Environment), an object oriented multi-platform framework for OS-independent interprocess, network and real time communication. They use TAO (The ACE ORB) as their ORB (Object Request Broker), a CORBA implementation designed for high performance and real time applications.
Currently supported platforms include [[Autonomous research robot|Pioneers]], the B21, some robot soccer robots and various robotic sensors.<ref>{{
===Orca===
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