Rizano, TizarAbeni, LucaPalopoli, LuigiGarcía Valls, MarisolCucinotta, Tommaso2013-11-142013-11-142013-12-03REACTION 2013, co-located with IEEE RTSS. Vancouver, Canada. December 3rd, 2013. Universidad Carlos III de Madrid, 2013, pp. 1-6.978-84-616-7680-484-616-7680-4https://hdl.handle.net/10016/17921REACTION 2013. 2nd International Workshop on Real-time and distributed computing in emerging applications. December 3rd, 2013, Vancouver, Canada.The integration of the complex network of modules composing a modern distributed embedded systems calls for a middleware solution striking a good tradeoff between conflicting needs such as: modularity, architecture independence, re-use, easy access to the limited hardware resources and ability to respect real–time constraints. Several middleware architectures proposed in the last years offer reliable and easy to use abstractions and intuitive publish-subscribe mechanism that can simplify system development to a good degree. However, a complete compliance with the different requirements of assistive robotics application (first and foremost real–time constraints) remains to be investigated. This paper evaluates the performance of these solutions in terms of latency and scalability.6application/pdfengAtribución-NoComercial-SinDerivadas 3.0 EspañaSistemas en tiempo realSistemas distribuidosCloud computingMiddlewarePublish-subscribePerformanceconference proceedingsTelecomunicacionesopen access16International Workshop on Real-Time and Distributed Computing in Emerging Applications (REACTION)