RT Journal Article
T1 A DDS-based middleware for quality-of-service and high-performance networked robotics.
A1 Martínez Cruz, Jesús
A1 Romero-Garcés, Adrián
A1 Bandera-Rubio, Juan Pedro
A1 Marfil-Robles, Rebeca
A1 Bandera-Rubio, Antonio Jesús
K1 Robots autónomos
AB Social robots must adapt to dynamic environments, human interaction partners and challenging new stringenttasks. Their inner software is usually distributed and should be designed and deployed carefully becauseslight changes in the robot’s requirements can have an important impact not only on the existing sourcecode but also on the resulting performance at run-time. This paper describes our experiences in the designand implementation of a lightweight middleware for networked robotics called Nerve, which guaranteesthe scalability and quality-of-service (QoS) requirements for this kind of real-time software. Its benefitshave been proved through its use in two key components of the cognitive system of a social robot: avisual attention mechanism and a robot learning by imitation control architecture. Nerve makes use ofexisting patterns for networked applications along with the recent Data Distribution Service specification(DDS), where different QoS have been applied carefully to achieve the best performance of the target robot.
PB Wiley
YR 2012
FD 2012-02-03
LK https://hdl.handle.net/10630/37578
UL https://hdl.handle.net/10630/37578
LA eng
NO Cruz, J.M., Romero-Garcés, A., Rubio, J.P.B., Robles, R.M. and Rubio, A.B. (2012), A DDS-based middleware for quality-of-service and high-performance networked robotics. Concurrency Computat.: Pract. Exper., 24: 1940-1952. https://doi.org/10.1002/cpe.2816
NO https://openpolicyfinder.jisc.ac.uk/id/publication/7430
NO This work has been partially granted by the Spanish Ministerio de Ciencia e Innovación (MICINN) and FEDER funds,and by the Junta de Andalucı́a, under projects no. TIN2008-05932, TIN2008-06196 and P07-TIC-03106, respectively.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026