Robotics Design Patterns

When to Use This Skill

• Designing robot software architecture from scratch
• Choosing between behavior trees, FSMs, or hybrid approaches
• Structuring perception → planning → control pipelines
• Implementing safety systems and watchdogs
• Building hardware abstraction layers (HAL)
• Designing for sim-to-real transfer
• Architecting multi-robot / fleet systems
• Making real-time vs. non-real-time tradeoffs

Pattern 1: The Robot Software Stack

Every robot system follows this layered architecture, regardless of complexity: