| Publisher | Ecole Polytechnique Federale de Lausanne | ||
|---|---|---|---|
| Format | 439.4KB PDF | Date added | 07 Sep 2007 |
| Topics | Middleware, Software Engineering | ||
| Downloads | 1 | ||
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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