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DLS2: A distributed microcomponent-based robotic software architecture
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DOI：10.1016/j.rineng.2026.112048.png)
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Abstract
En 中文
In modern robotic systems, scalable, flexible, and robust software architectures are critical for enabling efficient collaboration and computation across distributed hardware. This paper introduces DLS2, a truly distributed robot-centric software architecture designed for complex, highly dynamic robots. Unlike conventional middle-ware, the DLS2 architecture natively integrates dynamic distribution of processing, containerized microservices, seamless application migration, and real-time performance constraints without relying on centralized orchestration. DLS2 manages different abstractions of the robotic stack by defining a structured, omnipresent layer-based organization. Through a formal architectural case study and a qualitative comparison with state-of-the-art frameworks, the structural advantages of this design paradigm are highlighted, particularly in terms of fault tolerance, modularity, and resource isolation. This research lays the foundational framework for future advancements in distributed robotic systems, offering an alternative design reference for resilient multi-robot environments. The DLS2 code can be found at https://github.com/iit-DLSLab/dls2-barebone
Keywords:
Robotics
Software architecture
Distributed systems
Real-time
Scalability
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