ASEBA, an event-based middleware for distributed robot control

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.


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




 Record created 2007-09-19, last modified 2018-01-28

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