REACTION 2013. 2nd International Workshop on Real-time and distributed computing in emerging applications. December 3rd, 2013, Vancouver, Canada.The integration of the complex network of modules
composing a modern distributed embedded systems calls
for a middleware solution striking a good tradeoff between
conflicting needs such as: modularity, architecture independence,
re-use, easy access to the limited hardware resources
and ability to respect real–time constraints. Several middleware
architectures proposed in the last years offer reliable and easy
to use abstractions and intuitive publish-subscribe mechanism
that can simplify system development to a good degree. However,
a complete compliance with the different requirements
of assistive robotics application (first and foremost real–time
constraints) remains to be investigated. This paper evaluates
the performance of these solutions in terms of latency and
scalability