Robotic frameworks, architectures and middleware comparison
This work addresses the problem for robotics researchers who need to select appropriate tools for system development, but it is incremental as it focuses on reviewing and comparing existing frameworks rather than introducing new methods.
The paper tackles the challenge of building complex robotic systems by providing an extensive review and comparison of famous robotic frameworks, middleware, and architectures, aiming to help researchers effortlessly evaluate them.
Nowadays, the construction of a complex robotic system requires a high level of specialization in a large number of diverse scientific areas. It is reasonable that a single researcher cannot create from scratch the entirety of this system, as it is impossible for him to have the necessary skills in the necessary fields. This obstacle is being surpassed with the existent robotic frameworks. This paper tries to give an extensive review of the most famous robotic frameworks and middleware, as well as to provide the means to effortlessly compare them. Additionally, we try to investigate the differences between the definitions of a robotic framework, a robotic middleware and a robotic architecture.