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A Client/Server Message Oriented Middleware for Mobile Robots

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Author(s): Danilo H. F. Menezes | Marco T. Chella | Hendrik T. Macedo

Journal: Journal of Software
ISSN 1796-217X

Volume: 7;
Issue: 5;
Start page: 1155;
Date: 2012;
Original page

Keywords: mobile robots | robotic middleware | message oriented middleware

ABSTRACT
Mobile robots offer a wide range of applications in educational and research fields. Sensing, planning, control, reasoning, and learning are human-like capabilities that can be artificially replicated in a computer-based robotic system as software applications. The development of software for mobile robot application is a complex task due to the fact that the wide range of robots are composed of heterogeneous hardware components which need different device software drivers and different low-level communication protocols. This paper presents a Client/Server Message Oriented Middle for Mobile Robots which separates the user application from the hardware and low-level implementation. The middleware has been already ported to two different robotic platforms. As a case study, a path planning and self-localization algorithms have been implemented and applied successfully.
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