CoHoN: A middleware for robots in heterogeneous communication environments with changing topology
Steffen Planthaber, Jan Vogengesang, Eugen Niesen · 2011
Communication methods in modern robotic systems typically connect multiple sensors, actuators, microcontrollers, and embedded PCs. There are several ways in hard-and software to communicate inside and between robots. In many cases a communication middleware is used. Although a lot of middleware solutions are available, they either introduce communication overhead or are designed and optimized for a specific domain other than robotics. But robots also have very specific requirements that have to be taken into account. This paper introduces a concept for a communication middleware that is specialized for robotics which provides a failure-tolerant communication middleware that can communicate transparently with different kinds of communication hardware.