Are middlewares ready for multi-robots systems?

Stefan-Gabriel Chitic 1 Julien Ponge 1 Olivier Simonin 1
1 DYNAMID - Dynamic Software and Distributed Systems
CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Autonomous robot fleets are complex systems that require the interaction and communication between heterogeneous hardware and software. Despite many years of work in robotics, there is still a lack of established software architecture and middleware, in particular for large scale multi-robots systems. Many research teams are still writing specific hardware orientated software that is very tied to a robot. This vision makes sharing modules or extending existing code difficult. A robotic middleware should be designed to abstract the low-level hardware architecture, facilitate communication and integration of new software. In this paper, we present and compare seven existing middlewares capable of being used in multi-robot systems. We also present two dedicated cloud based multi-robots platforms. After this analysis, we discuss why a cloud of robots and not a cloud for robots is more suitable in a fleet context.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01024760
Contributor : Stefan-Gabriel Chitic <>
Submitted on : Wednesday, July 16, 2014 - 4:11:03 PM
Last modification on : Saturday, October 27, 2018 - 1:19:07 AM

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Stefan-Gabriel Chitic, Julien Ponge, Olivier Simonin. Are middlewares ready for multi-robots systems?. International Conference on Simulation, Modeling, and Programming for Autonomous Robots, Oct 2014, Bergamo, Italy. ⟨hal-01024760⟩

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