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ASEBA, an Event-Based Middleware for Distributed Robot Control

PublisherEcole Polytechnique Federale de Lausanne
Format439.4KB PDFDate added07 Sep 2007
Topics Middleware, Software Engineering
Downloads1

Computing infrastructures of mobile robots have grown in complexity in the last decades; They have evolved from single processor systems to networks of microcontrollers communicating through a shared bus. This has induced additional architectural constraints that do not fit well with the traditional polling-based sensors and actuators control. To address this issue, the paper has developed ASEBA, an event-based middleware that allows distributed control and efficient resources exploitation of multi-microcontrollers robots. ASEBA provides hardware modularity, better efficiency, and improved scalability by embedding a lightweight virtual machine in each microcontroller and providing an IDE to develop and debug the whole robot reactive control from a single place.

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