Improving a robotics framework with real-time and high-performance features

Authors:
Jesús Martínez;Adrián Romero-Garcés;Luis Manso;Pablo Bustos
Affiliations:
Computer Science Department, University of Málaga, Spain;Dept. Tecnología de los Computadores y las Comunicaciones, University of Extremadura, Spain;Dept. Tecnología de los Computadores y las Comunicaciones, University of Extremadura, Spain;Dept. Tecnología de los Computadores y las Comunicaciones, University of Extremadura, Spain
Venue:
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Year:
2010

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Abstract

Middleware has a key role in modern and object-oriented robotics frameworks, which aim at developing reusable, scalable and maintainable systems using different platforms and programming languages. However, complex robotics software falls into the category of distributed real-time systems with stringent requirements in terms of throughput, latency and jitter. This paper introduces and analyzes a methodology to improve an existing robotics framework with real-time and high-performance features using a recently adopted standard: the Data Distribution Service (DDS).