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A survey of development frameworks for robotics

The growing interest in robotics has originated, in these recent years, the development of a high variety of intelligent and autonomous robots, and a great number of software frameworks for robotics. This paper surveys some representative of the existing of these development frameworks. In addition, it describes and compares their principal features and limitations. The paper provides also information on some of the existing robots supported by the studied frameworks all over the world. Finally, the paper discusses the main requirements that a robotics framework must satisfy while being easy to understand and to use.