Software platform for practical verification of control algorithms developed for rescue and exploration mobile platform

This paper presents the architecture of system that has been developed for practical verification of the real-time control algorithms performance intended for servicing mobile platform. The system has been implemented using the hardware-software framework developed within RobREx project. This framework is a composition of a well integrated software tools and hardware devices dedicated for developing a complex, distributed real-time control systems. The framework supports a component-driven development paradigm, provides a ready-made application building blocks and introduces standard interfaces. The elaborated system is composed of several software components that together with hardware devices constitutes the fully functional, experimental testbed that allows testing of control algorithms in real-time.