@InProceedings{Schoute05, title = "{F}ast {D}ata {S}haring within a {D}istributed, {M}ultithreaded {C}ontrol {F}ramework for {R}obot {T}eams", author= "Schoute, Albert L. and Seesink, Remco and Dierssen, Werner and Kooij, Niek", editor= "Broenink, Jan F. and Roebbers, Herman and Sunter, Johan P. E. and Welch, Peter H. and Wood, David C.", pages = "147--154", booktitle= "{C}ommunicating {P}rocess {A}rchitectures 2005", isbn= "978-1-58603-561-7", year= "2005", month= "sep", abstract= "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." }