DDS-BASED HETEROGENEOUS ROBOTS COMMUNICATION MIDDLEWARE

摘要

OMG (Object Management Group) DDS (Data Distribution Service for Real-time Systems) is an open international communication middleware standard for real-time and embedded systems. In this paper, a communication middleware model based on OMG DDS for multi-robot environments is presented. With the help of DDS QoS mechanism and Publish/Subscribe paradigm, proposed communication middleware abstracts different robot implementations sharing same domain (i.e. heterogeneity)