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The paper presents a software architecture to optimize the process ofprototyping and deploying robot controllers that are synthesized usingmodel-based design methodologies. The architecture is composed of a frameworkand a pipeline. Therefore, the contribution of the paper is twofold. First, weintroduce an open-source actor-oriented framework that abstracts the commonrobotic uses of middlewares, optimizers, and simulators. Using this framework,we then present a pipeline that implements the model-based design methodology.The components of the proposed framework are generic, and they can beinterfaced with any tool supporting model-based design. We demonstrate theeffectiveness of the approach describing the application of the resultingsynchronous dataflow architecture to the design of a balancing controller forthe YARP-based humanoid robot iCub. This example exploits the interfacing withSimulink and Simulink Coder.

A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers