SOM4R: um middleware para aplicações robóticas baseado na arquitetura orientada a recursos

Abstract

Middleware is the software layer situated between the operating system and applications layer or between layers of applications, which provides an infrastructure for integrating applications and data in a distributed processing system. In this thesis we propose a new software layer (middleware) for integration and intelligent sharing of robotic resources (sensors, actuators and / or services) identified by URIs (Uniform Resource Identifiers), using the TCP/IP network, employing protocols with minor firewall restrictions and a resource description language that makes data more portable and interoperable between different types of computers, operating systems and programming languages. The proposed middleware facilitates interactive computing of multiple interconnected applications with the purpose to create a larger application, usually distributed over a computer network consisting of various kinds of heterogeneous hardware and software. With this model of middleware, it is possible to ensure security of access to resources, abstracting the diversity of robotic hardware, to reuse the infrastructure of software for robots between multiple search efforts, reduce the coupling between multiple applications, encourage code portability and support scalability of the architecture.