Erik Einhorn, T. Langner, Ronny Stricker
Dec 24, 2012
Citations
4
Influential Citations
73
Citations
Quality indicators
Journal
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abstract
In this paper, we present MIRA, a new middleware for robotic applications. It is designed for use in real-world applications and for research and teaching. In comparison to many other existing middlewares, MIRA employs novel techniques for communication that are described in this paper. Moreover, we present benchmarks that analyze the performance of the most commonly used middlewares ROS, Yarp, LCM, Player, Urbi, and MOOS. Using these benchmarks, we can show that MIRA outperforms the other middlewares in terms of latency and computation time.