Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Generic Synchronous Dataflow Architecture to Rapidly Prototype and
  Deploy Robot Controllers   The paper presents a software architecture to optimize the process of
prototyping and deploying robot controllers that are synthesized using
model-based design methodologies. The architecture is composed of a framework
and a pipeline. Therefore, the contribution of the paper is twofold. First, we
introduce an open-source actor-oriented framework that abstracts the common
robotic uses of middlewares, optimizers, and simulators. Using this framework,
we then present a pipeline that implements the model-based design methodology.
The components of the proposed framework are generic, and they can be
interfaced with any tool supporting model-based design. We demonstrate the
effectiveness of the approach describing the application of the resulting
synchronous dataflow architecture to the design of a balancing controller for
the YARP-based humanoid robot iCub. This example exploits the interfacing with
Simulink and Simulink Coder.

15
The categories of this paper are: nucl-ex
2
The categories of this paper are: math
21
The categories of this paper are: adap-org
22
The categories of this paper are: chao-dyn
0
The categories of this paper are: hep-ph
9
The categories of this paper are: nlin
35
The categories of this paper are: mtrl-th
16
The categories of this paper are: stat
14
The categories of this paper are: math-ph
28
The categories of this paper are: alg-geom
24
The categories of this paper are: dg-ga
33
The categories of this paper are: plasm-ph
5
The categories of this paper are: gr-qc
36
The categories of this paper are: cmp-lg
18
The categories of this paper are: econ
37
The categories of this paper are: supr-con