title: A Survey on Intermediation Architectures for Underwater Robotics.
abstract: Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.
authors: Research Center on Software Technologies and Multimedia Systems for Sustainability (Centro de Investigación en Tecnologías Software y Sistemas Multimedia Para la Sostenibilidad-CITSEM), Campus Sur UPM, Ctra. Valencia, Km 7, Madrid 28031, Spain. xin.li@upm.es.
authors: Xin
authors: X
authors: Li
authors: Research Center on Software Technologies and Multimedia Systems for Sustainability (Centro de Investigación en Tecnologías Software y Sistemas Multimedia Para la Sostenibilidad-CITSEM), Campus Sur UPM, Ctra. Valencia, Km 7, Madrid 28031, Spain. jf.martinez@upm.es.
authors: José-Fernán
authors: JF
authors: Martínez
authors: Research Center on Software Technologies and Multimedia Systems for Sustainability (Centro de Investigación en Tecnologías Software y Sistemas Multimedia Para la Sostenibilidad-CITSEM), Campus Sur UPM, Ctra. Valencia, Km 7, Madrid 28031, Spain. jesus.rodriguezm@upm.es.
authors: Jesús
authors: J
authors: Rodríguez-Molina
authors: Research Center on Software Technologies and Multimedia Systems for Sustainability (Centro de Investigación en Tecnologías Software y Sistemas Multimedia Para la Sostenibilidad-CITSEM), Campus Sur UPM, Ctra. Valencia, Km 7, Madrid 28031, Spain. nestor.lucas@upm.es.
authors: Néstor Lucas
authors: NL
authors: Martínez
keywords: Autonomous Surface Vehicle (ASV); Autonomous Underwater Vehicles (AUV); middleware; survey; underwater robotics