This software overview applies directly to Loki and Turtle, but most of my robots use some variation of this design. The code is written in C++, and compiled with Microsoft Visual Studio 2010. Since Loki uses many different interfaces, there are probably some examples in this code that my help you get started with OpenCV Vision, Kinect, Laser Range finding, Arm Kinematics, Mapping and Navigation, and Speech recognition.
Here is the source code download page.
Here is a high level block diagram of the robot code: