III. RESULTS AND SIMULATION
Visual Programming Language (VPL) of MRDS [12]
[13] is used to validate our concept. VPL is a graphical
data-flow based programming language model based on event
driven and data driven approach. This supports advanced
programming, code development and rapid prototyping of
robotic services and other applications.
Fig.3 shows the prototyping model of the created speech
controller robot service. We used Create robot from iRobot