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The Mobility Open Architecture Simulation and Tools (MOAST) framework aids in the development of autonomous robots. It includes an architecture, control modules, interface specs, and data sets and is fully integrated with the USARSim simulation system.
RTS2 is project to create an open source environment for control of a fully autonomous observatory. It is running about dozen fully autonomous observatories. Its modular design allow easily addition of new devices (to already huge supported HW list).
Relacy is a framework for agent-oriented programming in C++. Agents are autonomous objects, they interact fully asynchronously with messages. Relacy provides means for defining user agents and messages, as well as runtime system.