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Middleware for Robotics in Assisted living : A case study

In the FP7 E.C. DALi project, we pursue a mobility aid device – the cWalker – that supports navigation in crowded and unstructured spaces by acquiring sensory information by anticipating the intent of human agents and by deciding the path that minimises the risk of accidents. To achieve its ambitious goals the cWalker relies on a multi-disciplinary effort tapping different areas of expertise. The resulting complexity of the system engineering motivates the use of a middleware combining a usable and intuitive API with acceptable latencies to permit its use in a system with challenging real– time constraints. In this paper, we report a performance evaluation of three interesting technological middleware solutions available off-the shelf that could potentially meet the demanding requirements of the cWalker and, more in general, of a new generations of robotic applications.