X-Ray Robot Middleware

A Transparent Middleware for Autonomous Robots

The X-Ray Robot Middleware was implemented in the context of Robocup (Midsize Leaque) to provide an extensible, reusable framework to define behaviors and coordination strategies for situated robots. The X-Ray middleware uses facades, proxies and transition values to encapsulate internal, inter-process and network communication between components. This allows, for instance, to monitor all important internal variables at real-time, configure systems (remotely), send messages to other robots without direct addressing, allow a shared memory between the robots, and incorporate internal and external sensor processing software in a fully transparent way.

X-Ray suggests the use of a specific task manager format, hereby supporting different behavior coordination mechanisms, such as simple macros to define finite state automata. The middleware can be used to create stand-alone applications, but it also allows an integration to existing frameworks, such as IConnect.

More Details on this software project will be added soon!