Focusing the development of non-industrial robotics in the last decade the growing impact of service and entertainment robots for daily life has emerged from pure science fiction to a serious scientific subject. But still many questions in how to solve everyday tasks like laying the table or even “simpler” detecting objects in unstructured areas with varying lighting conditions are unsolved. Hence the strong need to evaluate and exchange different approaches and abilities of multiple robotic demonstrators under real world conditions is also a crucial aspect in the development of system architectures. In this paper an architecture will be described providing strong support for simple exchange and integration of new robot abilities.