A Reusable Operational Software Architecture for Advanced Robotics

@inproceedings{Kapoor1996ARO,
  title={A Reusable Operational Software Architecture for Advanced Robotics},
  author={Chetan Kapoor},
  year={1996}
}
ion as opposed to manipulator level programming where the robot program is in terms of robot states [Lozano-Peréz, 1983]. 2.6.2. Operational Software A robot programming language is the top most layer of the robotic software. The layer of software that actually translates the robot programming language constructs into actuator commands is called the operational software 

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