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Authors
Eduardo R. B. Marques, Gil M. Goncalves, Joao B. Sousa

Identifier
10.3182/20061002-2-BR-4906.00019

Index Terms
antonomous vehicles,communication networks,distributed control

Abstract
Seaware is a publish-subscribe middleware used in multi-vehicle networked systems composed of autonomous and semi-autonomous vehicles and systems. Seaware provides a high level interface to network communications and may be deployed with a combination of heterogeneous components within a dynamic network. Seaware supports the RTPS (Real Time Publish Subscribe) protocol, underwater acoustic modems and other forms of network transport. This paper gives an overview of Seaware's implementation and its application to multi-vehicle networked sysems.

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