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    "SmartSoft" provides a component based approach to develop robotics software (http://smart-robotics.sourceforge.net/). This project provides a Message based (build on ACE from Douglas C. Schmidt) implementation of the SmartSoft idea.
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    Algernon is a subsumption architecture built on top of Simbad. It includes a maze-solving program as an illustration of how it can be used.
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