SubjectsSubjects(version: 901)
Course, academic year 2021/2022
Middleware for robotics - NAIL112
Title: Middleware pro robotiku
Guaranteed by: Department of Theoretical Computer Science and Mathematical Logic (32-KTIML)
Faculty: Faculty of Mathematics and Physics
Actual: from 2017
Semester: winter
E-Credits: 3
Hours per week, examination: winter s.:0/2 C [hours/week]
Capacity: unlimited
Min. number of students: unlimited
Virtual mobility / capacity: no
State of the course: taught
Language: Czech
Teaching methods: full-time
Guarantor: Mgr. Jindřich Vodrážka
RNDr. David Obdržálek, Ph.D.
Annotation -
Last update: RNDr. Jan Hric (04.05.2017)
This course provides an overview of various middleware platforms used in robotics. The course is focused towards autonomous robot control systems (UGV, UAV). We will be using ROS since it is currently one of the most widespread middleware platforms available. Throughout the course we will learn how to control either simulated or real robots.
Aim of the course -
Last update: RNDr. Jan Hric (07.06.2019)


Course completion requirements -
Last update: RNDr. Jan Hric (07.06.2019)


Literature -
Last update: RNDr. Jan Hric (04.05.2017)

A. Hentout, A. Maoudj and B. Bouzouia, A survey of development frameworks for robotics, 2016 8th International Conference on Modelling, Identification and Control (ICMIC), Algiers, 2016, pp. 67-72. DOI: 10.1109/ICMIC.2016.7804217

Pablo Iñigo-Blasco, Fernando Diaz-del-Rio, M Carmen Romero-Ternero, Daniel Cagigas-Muñiz, Saturnino Vicente-Diaz, Robotics software frameworks for multi-agent robotic systems development, Robotics and Autonomous Systems, Volume 60, Issue 6, June 2012, Pages 803-821, ISSN 0921-8890,

ROS: an open-source Robot Operating System In ICRA Workshop on Open Source Software (2009) by Morgan Quigley, Ken Conley, Brian Gerkey, et al.

ROS: Robotic Operating System [online]. [cit. 2017-04-24]. Dostupné z:

OpenRTM: RT Middleware [online]. [cit. 2017-04-24]. Dostupné z:

The Orocos Project: Open RObot Control Software [online]. [cit. 2017-04-24]. Dostupné z:

YARP: Yet Another Robot Platform [online]. [cit. 2017-04-24]. Dostupné z:

Player: Cross-platform robot device interface & server [online]. [cit. 2017-04-24]. Dostupné z:

ROS tutorials: Tutorials and documentation for ROS [online]. [cit. 2017-04-24]. Dostupné z:

AGITR: A Gentle Introduction To ROS [online]. [cit. 2017-04-24]. Dostupné z:

Syllabus -
Last update: RNDr. Jan Hric (04.05.2017)

Robot control system architecture, purpose of middleware.

Overview of middleware platforms (ROS, OROCOS, Player/Stage, URBI, YARP, OpenRTM-aist).

ROS (conception, architecture, low level and hihg level interfaces, communication, synchronization).

Practical experiments with real or simulated robots.

Charles University | Information system of Charles University |