International audience; One of the defining features of the field of robotics is its breadth and heterogeneity. Unfortunately, despite the availability of several robotics middleware services, robotics software still fails to smoothly handle at least two kinds of variab... View more
 W. D. Smart, “Is a Common Middleware for Robotics Possible?” in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'07) Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware, Nov. 2007. [Online]. Available: http://www.cse.wustl.edu/∼wds/library/papers/2007/iros-ws2007.pdf
 A. Elkady and T. Sobh, “Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography,” Journal of Robotics, vol. 2012, 2012.
 V. J. Lumelsky and A. A. Stepanov, “Effect of Uncertainty on Continuous Path Planning for an Autonomous Vehicle,” in Decision and Control, 1984. The 23rd IEEE Conference on, vol. 23, dec. 1984, pp. 1616-1621.
 J. Ng and T. Bra¨unl, “Performance Comparison of Bug Navigation Algorithms,” J. Intell. Robotics Syst., vol. 50, no. 1, pp. 73-84, Sep. 2007. [Online]. Available: http: //dx.doi.org/10.1007/s10846-007-9157-6
 E. Gamma, R. Helm, R. Johnson, and J. Vlissides, Design Patterns: Elements of reusable object-oriented software. Addison-Wesley Publishing, 1995.
 V. Lumelsky and A. Stepanov, “Dynamic Path Planning for a Mobile Automaton with Limited Information on the Environment,” Automatic Control, IEEE Transactions on, vol. 31, no. 11, pp. 1058 - 1063, nov 1986.
 H. Noborio, K. Fujimura, and Y. Horiuchi, “A Comparative Study of Sensor-based Path-planning Algorithms in an Unknown Maze,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 2, 2000, pp. 909-916.
 I. Kamon, E. Rimon, and E. Rivlin, “TangentBug: A Range-SensorBased Navigation Algorithm,” The International Journal of Robotics Research, vol. 17, no. 9, pp. 934-953, September 1998.
 I. Kamon, “Sensory Based Motion Planning with Global Proofs,” in Proceedings of the IROS95, 1995, pp. 435-440.
 A. Sankaranarayanar and M. Vidyasagar, “Path Planning for Moving a Point Object amidst Unknown Obstacles in a Plane: a New Algorithm and a General Theory for Algorithm Development,” in Proceedings of the 29th IEEE Conference on Decision and Control, 1990, pp. 1111- 1119 vol.2.