Fast Data Sharing within a Distributed, Multithreaded Control Framework for Robot Teams
Authors: Schoute, Albert L., Seesink, Remco, Dierssen, Werner, Kooij, Niek
Abstract:In this paper a data sharing framework for multi-threaded, distributed control programs is described that is realized in C++ by means of only a few, powerful classes and templates. Fast data exchange of entire data structures is supported using sockets as communication medium. Access methods are provided that preserve data consistency and synchronize the data exchange. The framework has been successfully used to build a distributed robot soccer control system running on as many computers as needed.
Communicating Process Architectures 2005, Jan F. Broenink, Herman Roebbers, Johan P. E. Sunter, Peter H. Welch, David C. Wood, 2005, pp 147 - 154 published by IOS Press, AmsterdamFiles: PDF
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