This paper introduces component based open middleware architecture implemented by ADD(Agency for Defense
Development) to accommodate new technology evolution of unmanned autonomous system. The proposed open system
architecture can be considered as a standard interface which defines the messages and operations between software
components on application layer level, and its purpose is to ensure the portability of future technology onto multi-platforms
as well as the inter-operability domains. In this architecture, the domain is defined as the space where several
different robots are operated, and each robot is defined as a subsystem within the domain. Each subsystem, i.e., robot, is
composed of several nodes, and then each node is composed of various components including node manager and
communicator. The implemented middleware uses reference architecture from JAUS (Joint Architecture for Unmanned
System) as a guidance. Among the key achievements of this research is the development of general node manager which
makes it possible to easily accommodate a new interface or the new core technology developed on the application layer
by providing a platform-independent communication interface between each subsystem and the components. This paper
introduces reference architecture and middleware applied in XAV (eXperimental Autonomous Vehicle) developed in
ADD. In addition, the performance of autonomous navigation and system design characteristics are briefly introduced.
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