Publish/subscribe model based communication for telerobotics

In order to implement the telerobotics, mainly using TCP/IP network. In addition, a variety of communication middleware have been developed. Publish/Subscribe paradigm is a useful model for applications that are connected in a distributed environment. There is a communication technology more than one, but in the communication environment in which a variety of devices to interact frequently the same type of data dynamically, data exchange of Publish/Subscribe method of the data-centric for telerobotics is appropriate. In this paper, we propose the Publish/subscribe model based communication for telerobotics.