Integration framework for interoperability of distributed and heterogeneous robot middlewares

This paper describes the ongoing development of a software framework for supporting interoperability and integration among heterogeneous network-based robotic development frameworks. We studied two of network based robotic software development frameworks named CAMUS framework and RT-middleware. The CAMUS (context-aware middleware for URC systems) is a middleware developed by Electronics and Telecommunications Research Institute (ETRI), in Korea, based on the URC (ubiquitous robot companion) concept for developing network based robotic systems. On the other hand, The RT-middlware was developed by Agency of Industrial Science and Technology(AIST), in Japan, to promote applications of robot technology (RT) in various fields. The proposed framework supports interoperability and interconnection among modularized software named RT-components (RTC) in the context of RT-middleware and service agents (SA) in the context of CAMUS framework. We also implemented and tested some components based on the proposed approach.