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This paper presents the design and implementation of a control system for autonomous navigation based on a Service Oriented Architecture (SOA) supporting a mobile robot suitable for industrial applications. The robot is required to perform generic high-level tasks in indoor structured environments. The control architecture, developed within the Microsoft Robotics Developer Studio (MRDS), allows to encapsulate the controller functionalities as a set of services that interact and exchange data among them. This approach allows to guarantee flexibility, scalability and reliability. The accurate testing, carried out in simulated and real environments, shows good real-time performances.978-1-4244-8092-0/10/$26.00 ©2010 IEEE

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This paper focuses on solving practical challenges inherent from the use of state-ofart mobile robotics techniques in a resource hungry embedded mobile unit without inherent support for hard real-time operation. Such problems include real-time constraints, sensor acquisition independence from robot movement, multi-rate parallel data acquisition and memory limitations.