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| Name | System model | Control model | Fault tolerance | Simulator | Linux | Windows | Standards and technologies used | Open source | Behavior coordination | Real time | Distributed environment | Dynamic wiring | Security |
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| CLARAty | 2-layer AM; decentralized data; client server; platform independent abstractions and interfaces for various robotic components for motion control, coordination, mobility, manipulation, perception, estimation, navigation and planning. | Supports adaptation for centralized and distributed control; event driven | Yes | Yes | Yes | Only cygwin | OO design patterns, generic programming (C++ STL), ACE/TAO, CP-PUnit, Qt, TCP, UDP, Doxygen | Partially | supported | Most modules are real time | Yes | Partially | Yes |
| Player | No particular architectural constraint, client-server, decentralized data | Not applicable; but on module level can be considered centralized, since it relies on polling model | No explicit fault handling capabilities | Stage is a 2D simulator, Gazebo is a 3D simulator | Yes | Yes | 3-Tier Architecture Proxy Objects | Yes | No | No | Yes | Yes | Yes |
| ORCA | No particular architectural constraint, peer to peer, decentralized data, component-based robotic systems | Not applicable; not clear on component level | No explicit fault handling capabilities | Yes | Yes | Yes | Ice | Yes | No | No | Yes | No | |
| MIRO | 3 layers, client-server, decentralized data | On object level there is an emphasis on event–driven control | No explicit fault handling capabilities | Yes | Yes | Yes | TAO Middleware C++ implementation of the CORBA standard | Yes | Yes | No | Yes | Yes | No |
| OpenRTM-aist | Component-based frame work, model-driven architecture, platform-independent model (PIM), Platform-specific model (PSM) | Component-based | Supported by RT-component model | OpenHRP3 is a dynamic simulator | Yes | Yes | CORBA | Yes | No | Yes | Yes | Yes | No |
| ASEBA | Event-driven distributed control | Event-based control | No | Yes | Yes | No | Event-based middleware, Virtual machines | Yes | Yes | Yes | Yes | Yes | No |
| MARIE | Component-oriented engineering approach, 3 layers | Centralized control unit | No | Yes | Yes | No | Mediator Interoperability technology, ACE | Yes | Yes | No | Yes | Yes | No |
| RSCA | Consists of real-time OS, communication middleware, and deployment middleware called core frame-work | Event-based control | No | No | Yes | Yes | POSIX. 13. CORBA. RT-CORBA vl. 1 | Yes | No | Yes | Yes | Yes | No |
| OPRoS | Component-based frame-works, validation/test tools | Client/server mechanism for control flow and the publisher/subcriber mechanism for data/event flow. | Being developed | Yes | Yes | Yes | event-driven | Yes | No | Being developed | Yes | Yes | No |
| ROS | Component-based frame-work, publisher/subscriber | Message oriented frame-works | Not Explicit | Yes | Yes | Partial functions | Message oriented, RPC services | Yes | Yes | Yes | Yes | Yes | No |
| MRDS | Component-based, REST | Distributed messaging | | Yes | No | Yes | .NET/SOA | Comm. | Yes | No | Yes | Yes | Yes |
| OROCOS | C++ libraries: OCL, KDL, BFL, | Event-based control | | No, but it has Orocos Simulik Toolbox | Yes | Yes | ACE/TAO, CORBA | Open source | No | Yes | No | Yes | No |
| SmartSoft | Service-oriented, component-based software, model-driven architecture, platform-independent model and platform-specific model | Client/server, publish/subscribe, master/slave, arbitrary control models within component hull | Being Developed | Yes | Yes | Yes | Two reference Implementations, one based on CORBA (ACE/TAO) and one based on ACE only | Yes | Yes | yes, runs with RTAI-Linux and QNX | Yes | Yes | Yes |
| ERSP | 3 layers | | No | | No | Yes | Yes | Comm | Yes | No | No | No | Yes |
| Skilligent | | | Yes | No | Yes | Yes | | Comm. | Yes | No | Yes | | |
| Webots | Multiprocess architecture | | Can simulate dynamical device failure: (physical destruction, noise increase, etc.) | Yes | Yes | Yes | TCP Socket interface, Open Dynamics Engine, Ogre 3D | Comm. | Yes | Yes | No | No | |
| Irobotaware | Layered architecture | Publish/subscribe, Messaging | | Yes | Yes | | | Comm. | Yes | No | Yes | Yes | Yes |
| Carmen | 3T hybrid architecture | | | 2D simulator | Yes | No | Socket based, using TCP protocol, IPC | Yes | No | No | Yes | Yes | Yes |
| RoboFrame | Message-oriented publish/subscribe and shared memory communication mechanisms | Message-based | No | Yes | Yes | Yes | Socket based | No | No | No | Yes | Yes | No |
| Pyro | Architecture independent | | No | Yes | Yes | Yes | Socket based using TCP protocol, XML, SOAP, OpenGL, HTTP | Yes | Yes | No | No | Yes | Yes |
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