Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and\r\nhardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware\r\nis designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new\r\ntechnologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the\r\nsensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production\r\ncosts. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware\r\ndesign. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of\r\ncurrent approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate\r\nbibliographic references that are classified based on middleware attributes.
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