Implementation challenges in real-time middleware for distributed autonomous systems

Exploration missions will achieve a sustainable human-robotic presence in space and on the surface of the Moon and of Mars. Sustained operations require higher performance, which in turn implies a higher degree of asset autonomy. For example, construction, maintenance, or in-situ resource utilization will be accomplished by efficiently executing complex tasks in the absence of long-haul teleoperation from Earth. The distributed autonomous systems will include assets that operate in real-time: examples are surface robots, rovers, CEV on-board actuation units, or space construction robots. In this paper, we describe the transversal challenges in implementing real-time middleware components for distributed autonomous systems. The emphasis is on reusable components that address issues that are shared among distributed autonomous real-time systems. Specific applications are not the focus of this paper