CoHoN: A middleware for robots in heterogeneous communication environments with changing topology

A Survey on Intermediation Architectures for Underwater Robotics

“…A conceptual middleware, named CoHoN, was proposed in [ 29 ] to address the existing communication issues regarding heterogeneity inside a single robot and among multiple robots. CoHoN is aimed towards providing a decentralized, connection-based communication solution with very small message headers which goes beyond other existing robotic middleware solutions, such as ROS and Robotics Developer Studio (MRDS).…”

“…CoHoN is aimed towards providing a decentralized, connection-based communication solution with very small message headers which goes beyond other existing robotic middleware solutions, such as ROS and Robotics Developer Studio (MRDS). A major concern in current robotic middleware research pointed out by Planthaber et al [ 29 ] is that the majority of robotic middleware solutions introduce communication overhead while offering a considerable amount of beneficial capabilities. Keeping in mind a set of considerations, including usage simplicity, automatic setup, decentralization, Quality of Service (QoS), support for heterogeneous hardware, transparency, multi-robot support, dynamic data routing, and low overhead, a two-step approach including setup and production is proposed by CoHoN to facilitate the fulfillment of communication requirements from robotics.…”

Normalizing abstractions of heterogeneous robotic systems by using Roles: usability study in the administration of software and development tools

“…Formerly, middleware has been employed for various other purposes than robotics. Today, robotics middleware has become the modern approach for creating software in the robotics community, enabling the collaborative development of complex systems and opening paths for new technology, currently existing more than 30 projects (Table 1 [1][2][3][4][5][6][7][8][9]). In the late 1990s open-source platforms began to appear (e.g.…”

“…Generally, since in robotics middleware a heterogeneous software system is built and used inside a single platform, the platform's abstractions are available natively only for the software elements designed under the middleware's policies. Due to the vast number of platforms with distinct aims, design policies and abstraction levels, there has been a discussion ( [2], [9] and [15]) on the problems derived from the heterogeneity of highly integrated systems that prevent having a one-for-all solution or a de-facto standard in robotics middleware.…”