Fast Data Sharing within a distributed multithreaded control framework for robot teams
Remco Seesink, Remco Seesink, Werner Dierssen, Niek Kooij, Albert L. Schoute, Mannes Poel, H. Martin Schepers, Erik Schepers, Thijs Verschoor · University of Twente Research Information · 2003
In this paper a data sharing framework for multi-threaded, distributed control programs is described that is realized in C++ by means of only a few, powerful classes and templates. Fast data exchange of entire data structures is supported using sockets as communication medium. Access methods are provided that preserve data consistency and synchronize the data exchange. The framework has been successfully used to build a distributed robot soccer control system running on as many computers as needed.