The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
LCM: Lightweight Communications and Marshalling
Abstract
We describe the Lightweight Communications and Marshalling (LCM) library for message passing and data marshalling. The primary goal of LCM is to simplify the development of low-latency message passing systems, especially for real-time robotics research applications. Messages can be transmitted between different processes using LCM's publish/subscribe message-passing system. A platformand language-independent type specification language separates message description from implementation. Message specifications are automatically compiled into language-specific bindings, eliminating the need for users to implement marshalling code while guaranteeing run-time type safety. LCM is notable in providing a real-time deep traffic inspection tool that can decode and display message traffic with minimal user effort and no impact on overall system performance. This and other features emphasize LCM's focus on simplifying both the development and debugging of message passing systems. In this paper, we explain the design of LCM, evaluate its performance, and describe its application to a number of autonomous land, underwater, and aerial robots.
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Cites
A perception‐driven autonomous urban vehicle
Leonard, J., How, J., Teller, S., Berger, M., Campbell, S., Fiore, G., Fletcher, L., Frazzoli, E., Huang, A., Karaman, S., et al. (2008) · Journal of Field Robotics · doi:10.1002/rob.20262 · Cited by 429
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Robot Operating System 2: Design, architecture, and uses in the wild
Macenski, S., Foote, T., Gerkey, B., Lalancette, C., & Woodall, W. (2022) · Science Robotics · doi:10.1126/scirobotics.abm6074 · Cited by 1,585
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control
Katz, B., Carlo, J. D., & Kim, S. (2019) · 2019 International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2019.8793865 · Cited by 544
Ford Campus vision and lidar data set
Pandey, G., McBride, J. R., & Eustice, R. M. (2011) · The International Journal of Robotics Research · doi:10.1177/0278364911400640 · Cited by 360
Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency
Kim, A., & Eustice, R. M. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2012.2235699 · Cited by 263
Wang, H.-C., Katzschmann, R. K., Teng, S., Araki, B., Giarre, L., & Rus, D. (2017) · 2017 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2017.7989772 · Cited by 167
Metadata
- Authors
- Huang, A. S., Olson, E., & Moore, D. C.
- Venue
- 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2010-10
- Pages
- 4057-4062
- OpenAlex
- W2074070730
- Cited by
- 299
- References
- 1
- FWCI
- 19.93
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Huang, A. S., Olson, E., & Moore, D. C. (2010). LCM: Lightweight Communications and Marshalling. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2010.5649358
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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