Middleware for Multi-robot Systems

Yuvraj Sahni, Jiannong Cao, Shan Jiang

Research output: Chapter in book / Conference proceedingChapter in an edited book (as author)Academic researchpeer-review

11 Citations (Scopus)


Recent advances in robotics technology have made it viable to assign complex tasks to large numbers of inexpensive robots. The robots as an ensemble form into a multi-robot system (MRS), which can be utilized for many applications where a single robot is not efficient or feasible. MRS can be used for a wide variety of application domains such as military, agriculture, smart home, disaster relief, etc. It offers higher scalability, reliability, and efficiency as compared to single-robot system. However, it is nontrivial to develop and deploy MRS applications due to many challenging issues such as distributed computation, collaboration, coordination, and real-time integration of robotic modules and services. To make the development of multi-robot applications easier, researchers have proposed various middleware architectures to provide programming abstractions that help in managing the complexity and heterogeneity of hardware and applications. With the help of middleware, an application developer can concentrate on the high-level logic of applications instead of worrying about low-level hardware and network details. In this chapter, we survey state of the art in both distributed MRS and middleware being used for developing their applications. We provide a taxonomy that can be used to classify the MRS middleware and analyze existing middleware functionalities and features. Our work will help researchers and developers in the systematic understanding of middleware for MRS and in selecting or developing the appropriate middleware based on the application requirements.

Original languageEnglish
Title of host publicationStudies in Systems, Decision and Control
PublisherSpringer International Publishing
Number of pages41
Publication statusPublished - 1 Jan 2019

Publication series

NameStudies in Systems, Decision and Control
ISSN (Print)2198-4182
ISSN (Electronic)2198-4190

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Control and Systems Engineering
  • Automotive Engineering
  • Social Sciences (miscellaneous)
  • Economics, Econometrics and Finance (miscellaneous)
  • Control and Optimization
  • Decision Sciences (miscellaneous)


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