A Component-Based C++ Communication Middleware for an Autonomous Robotic Sailboat

Abstract

The new C++ standard, C++11, and its upgrade, C++14, introduce new advances and features which make more affordable and easier the development of software for complex systems. Following this tenet we have designed and developed a component-based service-oriented C++ middleware, called ISE, for distributed systems using exclusively standard C++ and the quasi standard C++ Boost Libraries for keeping the middleware portable. The final aim of developing ISE has been to build the remote communication software infrastructure of an oceanic autonomous robotic sailboat called A-Tirma.

Acoustic Detection of Tagged Angelsharks from an Autonomous Sailboat

“…In addition, a public web tracker of the boat is available, where the trajectory and behavior of the boat can be openly published during on-field navigation. A detailed description of A-Tirma's communication infrastructure can be found in [8]. In relation to the operation of the acoustic receiver during a navigation session, it is possible to activate/deactivate the receiver remotely using the graphical interface.…”

Rigid wing sailboats: A state of the art survey

“…As a general summary of alternatives for external communication, it can be noted that, (𝑖), short range (about 1 km to 2 km) typically use wireless LAN (Stelzer and Jafarmadar, 2011) or XBee radio communications (Santana-Jorge et al, 2017), (𝑖𝑖) mid range, and when the ASV is situated in areas of mobile network communication coverage (typically coastal areas), typically use Universal Mobile Telecommunications System (UMTS)/General Packet Radio Service (GPRS) (Stelzer and Jafarmadar, 2011) or 3G/GPRS (Santana-Jorge et al, 2017) mobile communications via the mobile phone network, and, (𝑖𝑖𝑖) oceanic long range, i.e., without mobile network access, is based on Iridium SBD satellite communications. The relative availability, costs, bandwidth, and real-time abilities of these different modes of communication have been analysed in (Stelzer and Jafarmadar, 2011).…”