1. Player

2. Silvver

3. Stargaze

The Player software is a server which provides a high-level programming interface to deal with a robot's sensors and actuators. It will be used to control both the roomba's movement and the Hokuyo laser, there are plans in using it to control the Smart Arm as well, but a driver needs to be written.

The Silvver image analysis tool enables to read the position of fiduciary markers in a camera's image, and provides an API to use the collected data in real-time.

The Silvver software will be used in a branch of the project called StarGaze. Inspired by the NorthStar® localization system by Evolution Robotics, it enables the robot, with a webcam attached to its body facing up, to locate itself reading the position from several markers in the ceiling.