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BeeSoft User's Guide and Software Reference

Wendy Christensen, Tyson Sawyer, Jim Kurien, William D. Smart, Grinnell More, and Sebastian Thrun.
Real World Interface, Inc., Jaffrey, NH, 1997.


This is the documentation for the BeeSoft API for Real World Interface (later iRobot) B-series robots (the B21 and the B14). It was the successor to RAI (the Robot Application Interface, written at Brown University), and was superceded by Mobility (released by iRobot).

Paper: [PDF]

@manual{beesoft,
  author = {Christensen, Wendy and Sawyer, Tyson and Kurien, Jim and Smart, William D. and More, Grinnell and Thrun, Sebastian},
  title = {BeeSoft User's Guide and Software Reference},
  address = {Jaffrey, {NH}},
  organization = {Real World Interface, Inc.},
  year = {1997}
}