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The Robot Application Programming Interface Delegate (RAPID) is a software reference implementation for remote operations. It promotes interoperability between robot software modules. RAPID includes a standard “API” and data distribution middleware.
Miro is a robotics middleware. It uses CORBA for the middleware layer and provides OO-RPC as well as pub/sub communication patterns. Currently supported platforms include Pioneers, the B21, some robot soccer robots and various robotic sensors.
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WURDE is middleware for robotics application development. It is designed to be maximally simple to develop in and easy to add support for alternate communications protocols. It includes a module management system.