A Survey on Intermediation Architectures for Underwater Robotics

Li, Xin and Martínez Ortega, José Fernán and Rodríguez Molina, Jesús and Lucas Martínez, Néstor (2016). A Survey on Intermediation Architectures for Underwater Robotics. "Sensors", v. 16 (n. 2); p. 190. ISSN 1424-8220. https://doi.org/10.3390/s16020190.


Title: A Survey on Intermediation Architectures for Underwater Robotics
  • Li, Xin
  • Martínez Ortega, José Fernán
  • Rodríguez Molina, Jesús
  • Lucas Martínez, Néstor
Item Type: Article
Título de Revista/Publicación: Sensors
Date: 4 February 2016
ISSN: 1424-8220
Volume: 16
Freetext Keywords: middleware; underwater robotics; Autonomous Underwater Vehicles (AUV); Autonomous Surface Vehicle (ASV); survey
Faculty: Centro de Investigación en Tecnologías Software y Sistemas Multimedia para la Sostenibilidad (CITSEM) (UPM)
Department: Otro
Creative Commons Licenses: Recognition

Full text

PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (1MB) | Preview


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.

Funding Projects

Horizon 2020662107SWARMsJosé Fernán Martínez OrtegaSmart and Networking Underwater Robots in Cooperation Meshes
Government of SpainPCIN-2014-022-C02-02UnspecifiedJosé Fernán Martínez OrtegaRedes de cooperación inteligente de vehículos submarinos

More information

Item ID: 40511
DC Identifier: http://oa.upm.es/40511/
OAI Identifier: oai:oa.upm.es:40511
DOI: 10.3390/s16020190
Official URL: https://doi.org/10.3390/s16020190
Deposited by: Prof. José-Fernán Martínez
Deposited on: 18 May 2016 07:17
Last Modified: 13 Mar 2019 19:01
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM