Development of communication framework for unmanned ground vehicle

This article introduces new concepts for the communication framework of unmanned ground vehicles (UGV). Despite the incompatibility of communication with other UGVs which conform to the Joint Architecture for Unmanned Systems (JAUS) specification, it focuses on achieving performance and stability, and building an extendible framework so that it is easily adaptable to new UGVs with different hardware specifications. The communication framework includes a publisher and subscriber architecture with static registrations of communication information, message buffers which make it possible to asynchronously process input and output messages, and a watchdog function which ensures stable execution of processes for each component.