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DDS-BASED HETEROGENEOUS ROBOTS COMMUNICATION MIDDLEWARE

Year 2011, Volume: 3 Issue: 1, 95 - 100, 01.03.2011

Ekrem Aksoy Selçuk Canbek Nihat Adar

Abstract

OMG (Object Management Group) DDS (Data Distribution Service for Real-time Systems) is an open international communication middleware standard for real-time and embedded systems. In this paper, a communication middleware model based on OMG DDS for multi-robot environments is presented. With the help of DDS QoS mechanism and Publish/Subscribe paradigm, proposed communication middleware abstracts different robot implementations sharing same domain (i.e. heterogeneity)

Keywords

DDS middleware heterogeneous robots communication model QoS

References

  • N.Mohamed, J. Al-Jaroodi, I.Jawhar, "Middleware for Robotics: A Survey", Proc. of The IEEE Intl. Conf. on Robotics, Automation, and Mechatronics (RAM 2008), pp. 736- 742, Sep. 2008.
  • R. Simmons et al., “Coordinated Deployment of Multiple, Heterogeneous Robots,” Proc. 2000 IEEE/RSJ Int’l Conf. Intelligent Robots and Systems, IEEE Press, Piscataway, N.J., 2000.
  • I.Akyildiz, W.Su, Y.Sankarasubramaniam, and E.Cayirci, “Wireless Sensor Networks: A Survey”, Computer Networks, 2002.
  • W.Evan, B.A.MacDonald, F.Trepanier, "Distributed Mobile Robot Application Infrastructure", IROS 2003. Proc. v2, pp.1474-1480. 2003
  • A. Gage, D. Murphy, D. Valavanis, and M. Long, “Affective task allocation for distributed multi-robot teams”, Technical report TR2006-26 for Center for Robot- Assisted Search and Rescue (CRASAR).
  • N. Miyata, J. Ota, T. Arai, and H. Asama, “Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment,” IEEE transactions on robotics and automation, vol. 18, no. 5, 2002.
  • Sugawara, K., Mizuguchi, T., "Multi-task allocation and proportion regulation of homogeneous agents," Advanced Robotics and its Social Impacts, 2005. IEEE Workshop on, vol., no., pp. 145-148, 12-15 June 2005
  • P. Gil, I. Maza, A. Ollero, P. Marrón, "Data Centric Middleware for the Integration of Wireless Sensor Networks and Mobile Robots," in Proc. 7th Conference on Mobile Robots and Competitions, ROBOTICA 2007. April 2007.
  • Zhang, T.; Hasanuzzaman, Md.; Ampornaramveth, V.; Ueno, H., "Construction of heterogeneous multi-robot system based on knowledge model," Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on, vol., no., pp.274-279

Year 2011, Volume: 3 Issue: 1, 95 - 100, 01.03.2011

Ekrem Aksoy Selçuk Canbek Nihat Adar

Abstract

References

  • N.Mohamed, J. Al-Jaroodi, I.Jawhar, "Middleware for Robotics: A Survey", Proc. of The IEEE Intl. Conf. on Robotics, Automation, and Mechatronics (RAM 2008), pp. 736- 742, Sep. 2008.
  • R. Simmons et al., “Coordinated Deployment of Multiple, Heterogeneous Robots,” Proc. 2000 IEEE/RSJ Int’l Conf. Intelligent Robots and Systems, IEEE Press, Piscataway, N.J., 2000.
  • I.Akyildiz, W.Su, Y.Sankarasubramaniam, and E.Cayirci, “Wireless Sensor Networks: A Survey”, Computer Networks, 2002.
  • W.Evan, B.A.MacDonald, F.Trepanier, "Distributed Mobile Robot Application Infrastructure", IROS 2003. Proc. v2, pp.1474-1480. 2003
  • A. Gage, D. Murphy, D. Valavanis, and M. Long, “Affective task allocation for distributed multi-robot teams”, Technical report TR2006-26 for Center for Robot- Assisted Search and Rescue (CRASAR).
  • N. Miyata, J. Ota, T. Arai, and H. Asama, “Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment,” IEEE transactions on robotics and automation, vol. 18, no. 5, 2002.
  • Sugawara, K., Mizuguchi, T., "Multi-task allocation and proportion regulation of homogeneous agents," Advanced Robotics and its Social Impacts, 2005. IEEE Workshop on, vol., no., pp. 145-148, 12-15 June 2005
  • P. Gil, I. Maza, A. Ollero, P. Marrón, "Data Centric Middleware for the Integration of Wireless Sensor Networks and Mobile Robots," in Proc. 7th Conference on Mobile Robots and Competitions, ROBOTICA 2007. April 2007.
  • Zhang, T.; Hasanuzzaman, Md.; Ampornaramveth, V.; Ueno, H., "Construction of heterogeneous multi-robot system based on knowledge model," Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on, vol., no., pp.274-279
There are 9 citations in total.

Details

Other ID JA57MN49VH
Journal Section Articles
Authors

Ekrem Aksoy This is me

Selçuk Canbek This is me

Nihat Adar This is me

Publication Date March 1, 2011
Published in Issue Year 2011 Volume: 3 Issue: 1

Cite

IEEE E. Aksoy, S. Canbek, and N. Adar, “DDS-BASED HETEROGENEOUS ROBOTS COMMUNICATION MIDDLEWARE”, UTBD, vol. 3, no. 1, pp. 95–100, 2011.

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