A lightweight software architecture for robot navigation and visual logging through environmental landmarks recognition

A robot architecture with real-time performance in navigation tasks is presented. The system architecture is multi-threaded with shared memory and fast message passing through static signalling. In this paper, we focused on the reactive layer components and its straightforward implementation. The proposed architecture is described with reference to an experimental setup, in which the robot task is visual logging of environmental landmarks detected on the basis of sensor readings. Our experimental results show how the robot is able to identify, make snapshots and log a set of landmarks by matching 2D geometric patterns

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