Best Practice in Robotics Grant Agreement Number: 231940 Funding Period: 01.03.2009 – 28.02.2013 Instrument: Collaborative Project (IP) Deliverable D-2.2: Specifications of Architectures, Modules, Modularity, and Interfaces for the BROCRE Software Platform and Robot Control Architecture Workbench Author names: Lead contractor for this deliverable: Due date of deliverable: Actual submission date: Dissemination level: Revision: Gerhard K. Kraetzschmar Azamat Shakhimardanov Jan Paulus Nico Hochgeschwender Michael Reckhaus Bonn-Rhine-Sieg University (BRSU) 31.08.2010 31.08.2010 PU/RE 1.0