A collaborative script authoring and control platform for multiple heterogeneous robots is INK MIXER developed.The developed platform consists of a remote sever providing a graphic user interface (GUI) authoring tool, and a local control platform controlling a group of heterogeneous robots by interpreting the designated scripts.Designed to encourag

This paper presents some recent developments in YARP middleware, aimed to improve its integration Dress Women’s with ROS.They include a new mechanism to read/write ROS transform frames and a new set of standard interfaces to intercommunicate with the ROS navigation stack.A novel set of YARP companion modules, which provide basic navigation functi