This paper presents a system integration model based on CORBA and Frame Reques Broker (FRB) in accordance with heterogeneous distributed Multirobot system.

• 本文针对异构分布环境下的多机器人系统 ；提出了一种基于 CORBA规范和框架请求代理 (FRB)这一方式的应用系统集成模型 .