I came across Fawkes online today:
http://www.fawkesrobotics.org/
Fawkes is a component-based Software Framework for Robotic Real-Time Applications for various Platforms and Domains.
Developed and used over four years for cognitive robotics real-time applications like soccer and service robotics. It supports fast information exchange and efficient combination and coordination of different components to suit the needs of mobile robots operating in uncertain environments.
It's open source too (GPL).
