Awaad, I.I.AwaadHartanto, R.R.HartantoLeòn, B.B.LeònPlöger, Paul-GerhardPaul-GerhardPlöger2022-03-102022-03-102008https://publica.fraunhofer.de/handle/publica/36018610.1007/978-3-540-89076-8_13The goal of the work presented here is to develop a robotic software system which enables robotic learning by experimentation within a distributed and heterogeneous setting. To meet this challenge, the authors specified, defined, developed, implemented and tested a component-based architecture called XPERSIF. The architecture comprises loosely-coupled, autonomous components that offer services through their well defined interfaces and form a service-oriented architecture. The Ice middleware is used in the communication layer. Additionally, the successful integration of the XPERSim simulator into the system has enabled simultaneous quasi-realtime observation of the simulation by numerous, distributed users.enSW architecturerobotic learning005006629400conference paper