Software development for networked robot systems

The design of a complex (Multi-)Robot system is a difficult task for engineers and researchers. Architecture design and software tools help the developers in spending most of their efforts in solving complex research issues. However, the lack of standardized techniques and specifications makes it hard to integrate complex systems, especially when developed by different subjects. In this paper, we propose the use of DDS (Data Distribution Services) as a data-centric middleware to manage information exchange between different components of a robotic system, and/or between different robots or agents. Moreover, we claim that a software framework for robotics should allow for transparent use of datacentric middleware, in order to interoperate with other software components. In this way, the DDS can be seen as the interoperability layer that allows for an easy integration of components that are developed by different groups.