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Lightweight Middleware for Robot

Recently, according to various application field of robot, the scalability and the flexibility of robot are essential requirements. To satisfy these requirements, the robot is divided into the module or a hardware component unit, where the function such as vision, control, sensing are executed. The robot is composed of the set of various modules. So, it could include heterogeneous O/S and network interfaces. A middleware is necessary for supporting these operating environments in robot. It provides services which are required commonly in modules. In this paper, we propose and implemented middleware for robot called the KOMoR (Korea object-oriented middleware of Robot). The KOMoR is lightweight middleware supporting characteristic of both communication middleware and distributed middleware. The KOMoR provides a various operating system and heterogeneous network interface for the flexibility and the scalability, QoS capabilities, a resource management, a fault tolerance, a routing capability for multiple path.