RT-middleware: distributed component middleware for RT (robot technology)

TLDR

Robot technology (RT) is applied in both industrial and nonindustrial domains, including daily life support systems. The paper proposes RT‑middleware, a software platform designed to integrate robot systems. The authors develop a methodology and framework for creating RT‑components and assembling them into RT‑middleware. Modular RT‑components enable RT‑middleware, promoting robot system integration across diverse fields, and the authors evaluate its effectiveness in several prototype systems.

Abstract

In this paper, we propose RT-middleware for robot system integration. "RT" means "robot technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-middleware which is proposed in this paper is a software platform for RT systems. We have studied modularization of RT elements and have developed RT-middleware, which promotes application of RT in various fields. Robotic system development methodology and our RT-middleware concepts are discussed. The RT-component, which is a basic software unit of RT-middleware based system integration, is derived from this discussion. A methodology of system development by using RT-components, and a framework for component development are proposed. Evaluations of some RT-component based systems are performed. Finally, conclusions and future work is described.