UPnP Approach for Robot Middleware

This paper presents an approach to utilize UPnP as a middleware for robots. It describes the advantages of UPnP by comparing UPnP with TAO CORBA that was used in a few robot development projects. In order to consider real situation, we select a sample robot architecture, and examine the possibility of UPnP as a robot middleware with the robot architecture. This paper shows how UPnP architecture can be applied to building a robot in the view of software architecture, message mapping, realtime, network selection, performance, memory footprint, and deployment issues.