*3.2. Proposed Approach*

As mentioned above, in mobile robotics applications we can distinguish different abstraction levels common to all of them. One of the requirements to develop the proposed framework is to define these abstraction levels and the software modules that are part of each one, as well as their communication channels. As shown in Figure 1, layers below task level are split in two halves to separate perception from control, resulting in three areas: perception (blue nodes), motion (green nodes) and high-level (white nodes). The links shown in the Figure 1 can be modified depending on the inputs/outputs of each particular node.
