A robust inter-domain DDS gateway based on token passing for large-scale Cyber-Physical Systems

In this paper, we propose the architecture of the Data Distribution Service Gateway (DDS GW) to interconnect different DDS domains for large-scale Cyber-Physical Systems (CPS). We suggest the DDS GW service which runs on the DDS Middleware. It consists of four major components: Interface Module, Topic Manager, Routing Manager and Network Module. We also suggest a basic algorithm for resolving the bottleneck problem caused by the exchanges of EDP messages.