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Is a Common Middleware for Robotics Possible?

William D. Smart.
In "Proceedings of the IROS 2007 workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware", 2007.

Despite many decades of work in robotics, we are still lacking a well-accepted common software architecture, middleware, and shared low-level functionality. Most research groups still write their own systems, and any software developed by these groups tends to be strongly tied to their architecture, their middleware, and their robots. This make the sharing of software and, by extension, well-implemented algorithms, extremely difficult, if not impossible. This lack of sharing is seriously impeding robotics research, as we spend our time re-implementing known algorithms and techniques, rather than discovering new ones. In this paper, we outline some of the key problems that stand in the way of developing a widely-accepted set of middleware for robotics. We discuss why the development of this middleware is vital to the long-term success of our field, and offer some suggestions on how to get started.

Paper: [PDF]

@inproceedings{iros-ws2007,
  author = {Smart, William D.},
  title = {Is a Common Middleware for Robotics Possible?},
  booktitle = {Proceedings of the {IROS} 2007 workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware},
  year = {2007}
}