Remote components: UObjects that are self-executable, they need to connect to a running engine. they are compiled alone and they can connect to any engine.

Plugged components: UObjects compiled inside the engine, they are automatically launched with the engine as they are fully belonging to it.

More detailed information on this at : URBI quickstart, in particular the UObject chapter.

By creating your own engine you have only one executable to launch, no need to launch engine and after the remote components. How to obtain this result is explained in the next section.

If you need to add a module to your engine, having a plugged UObjects is more practical when using engine (only one executable to launch). One Disadvantage is you need to compile the whole engine when you do any modification on one plugged UObject. For a remote component, only compiling the UObject which is modified is require on update.

With your URBI Bioloid SDK is provided a liburbiengine-bioloid.a file which is a library containing the Bioloid engine; linking this file when compiling your UObject is the best way to create your own Bioloid engine.