The robot software was implemented on a variety of hardware architectures described in the previous section. The design of the software was challenging due to constraints posed by robot tasks as well as hardware limitations. Issues such as amount of available computational power and the communication bandwidth were closely examined.
Figure 7 presents the software architecture of the robot. The dashed line in the figure represents the physical separation between the robot and the host.
Software implemented on the robot is in charge of sensing and robot controls. The software implemented on the host does data integration, reasoning, and interacts with a human operator.
Figure 7: Spinoza Software Architecture