The paper is focusing on the research of current technologies of multi-purpose mobile robots, including implementation of modular layout, open software frameworks, self-organization with plug and play (PnP) capability and adaptive sensor fusion. The hardware layout is studied in detail and modular architecture is proposed as an optimal solution of module interconnection. Software modular architecture is developed in the similar principle, taking plug and play connectivity into account. The framework
of the software consists of implementing middleware for the software modularization and three-level hierarchical structure. Practical implementation platforms are introduced and future developments discussed.
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