Volume 7 Number 5 (May. 2012)
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JSW 2012 Vol.7(5): 1155-1163 ISSN: 1796-217X
doi: 10.4304/jsw.7.5.1155-1163

A Client/Server Message Oriented Middleware for Mobile Robots

Danilo H. F. Menezes, Marco T. Chella, and Hendrik T. Macedo
Federal University of Sergipe/Computer Department, São Cristovão, Brazil

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.

Index Terms—mobile robots, robotic middleware, message oriented middleware


Cite: Danilo H. F. Menezes, Marco T. Chella, and Hendrik T. Macedo, "A Client/Server Message Oriented Middleware for Mobile Robots," Journal of Software vol. 7, no. 5, pp. 1155-1163, 2012.

General Information

ISSN: 1796-217X (Online)
Frequency: Monthly
Editor-in-Chief: Prof. Antanas Verikas
Executive Editor: Ms. Yoyo Y. Zhou
Abstracting/ Indexing: DBLP, EBSCO, ProQuest, INSPEC, ULRICH's Periodicals Directory, WorldCat, CNKI,etc
E-mail: jsw@iap.org
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