ASEBA, an event-based middleware for distributed robot control

• Presented at: IROS, San Diego, CA, USA, 29 October - 2 November 2007
• Published in: Workshops and Tutorials CD IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems
• : IEEE Press, 2007

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, we have 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.

Keywords: event-based ; robot ; middleware ; architecture ; distributed ; control ; low-level ; virtual machine ; can bus ; microcontroller ; aseba ; [MOBOTS] ; marxbot ; handbot

Reference

• LSRO-CONF-2007-016

• URL: http://mobots.epfl.ch/aseba.html

Record created on 2007-09-19, modified on 2012-03-20