Comparison Study of Robotic Middleware for Robotic Applications

Magyar, Gergely; Sinčák, Peter; Krizsán, Zoltán

doi:10.1007/978-3-319-10783-7_13

Cited by 16 publications

(11 citation statements)

References 1 publication

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“…Previous studies have compared the techniques used in traditional blackboard systems and messaging systems (Orebäck and Christensen, 2003;Magyar et al, 2015;Matamoros et al, 2015). This research concludes that blackboard architectures are easier to maintain and provide greater performance than peer-to-peer systems.…”

Section: Comparisonsmentioning

confidence: 88%

NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems

et al. 2016

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This paper discusses the design and interface of NUClear, a new hybrid messagepassing architecture for embodied humanoid robotics. NUClear is modular, has low latency, and promotes functional and expandable software design. It greatly reduces the latency for messages passed between modules as the message routes are established at compile time. It also reduces the number of functions that must be written using a system called co-messages, which aids in dealing with multiple simultaneous data. NUClear has primarily been evaluated on a humanoid robotic soccer platform and on a robotic boat platform. Evaluations show that NUClear requires fewer callbacks and cache variables over existing message-passing architectures. NUClear does have limitations when applying these techniques on multi-processed systems. It performs best in lower power systems where computational resources are limited. This article aims at readers with interest in modern software engineering concepts and development of systems in areas such as robotics, smart devices and virtual reality.

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Section: Comparisonsmentioning

confidence: 88%

NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems

et al. 2016

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“…Quando comparado a outras plataformas, o ROS se destaca por apresentar um elevado número de componentes e suportar o maior número de robôs (Magyar et al, 2015), além de contar com uma ampla e crescente comunidade de usuários contribuindo para a sua expansão, contribuindo assim para o compartilhamento e reuso de códigos (Staranowicz and Mariottini, 2011).…”

Section: Robot Operating System (Ros)unclassified

Estudo e Testes Conceituais de um Sistema Automatizado para Emenda de Correias Transportadoras

Rodrigues

Domingues

Silva

et al. 2019

Anais Do 14º Simpósio Brasileiro De Automação Inteligente

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“…Several works suggest a structured approach to the control of robots, including middleware (Magyar et al, 2015), frameworks, and architectures. In this section, we discuss those that are most closely related to our proposal.…”

Section: Related Workmentioning

confidence: 99%

The RoCS Framework to Support the Development of Autonomous Robots

Ramos

Divino

Lopes

et al. 2019

JSERD

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With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully. However, as the complexity of robotic systems grows, the need to organize and modularize software for their correct functioning also becomes a challenge, making the development of software for controlling robots a complex and intricate task. In the robotics domain, there is a lack of reference software architectures and, although most robot architectures available in the literature facilitate the creation process with their modularity, existing solutions do not provide development guidance on reusing existing modules. Based on the well- known IBM Autonomic Computing reference architecture (known as MAPE-K), this work defines a refined architecture following the Robotics perspective. To explore the capabilities of the proposed refinement, we implemented the RoCS (Robotics and Cognitive Systems) framework for autonomous robots. We successfully tested the framework under simulated robotics scenarios that mimic typical robotics tasks and evidence the framework reuse capability. Finally, we understand the proposed framework needs further experimental evaluation, particularly, assessments on real-world scenarios.

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Comparison Study of Robotic Middleware for Robotic Applications

Cited by 16 publications

References 1 publication

NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems

NUClear: A Loosely Coupled Software Architecture for Humanoid Robot Systems

Estudo e Testes Conceituais de um Sistema Automatizado para Emenda de Correias Transportadoras

The RoCS Framework to Support the Development of Autonomous Robots

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