EMMA2 is a mobile autonomous robot designed and constructed at the department. The robot's hardware is based on a Palm Zire handheld computer being equipped with a camera and a Bluetooth communication device. The robot's control software should be pluggable, i.e., a small Java framework (consisting of a few classes) should be designed and implemented supporting the operation of arbitrary software controllers, e.g., neural networks or fuzzy controllers. The control framework should also include sensor and actor interfaces. As a final proof of concept a neurocontroller developed within SIMMA (EMMA Simulator) should be transferred to EMMA2 successfully performing a simple task (learned in the simulator).