%T Fast Data Sharing within a Distributed, Multithreaded Control Framework for Robot Teams
%A Albert L. Schoute, Remco Seesink, Werner Dierssen, Niek Kooij
%E Jan F. Broenink, Herman Roebbers, Johan P. E. Sunter, Peter H. Welch, David C. Wood
%B Communicating Process Architectures 2005
%X In this paper a data sharing framework for multi\-threaded,
distributed control programs is described that is realized
in C++ by means of only a few, powerful classes and
templates. Fast data exchange of entire data structures is
supported using sockets as communication medium. Access
methods are provided that preserve data consistency and
synchronize the data exchange. The framework has been
successfully used to build a distributed robot soccer
control system running on as many computers as needed.
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