A Systematic Literature Review of DDS Middleware in Robotic Systems

The increasing demand for automation has led to the complexity of the design and operation of robotic systems. This paper presents a systematic literature review (SLR) focused on the applications and challenges of Data Distribution Service (DDS)-based middleware in robotics from 2006 to 2024. We explore the pivotal role of DDS in facilitating efficient communication across heterogeneous robotic systems, enabling seamless integration of actuators, sensors, and computational elements. Our review identifies key applications of DDS in various robotic domains, including multi-robot coordination, real-time data processing, and cloud–edge–end fusion architectures, which collectively enhance the performance and scalability of robotic operations. Furthermore, we identify several challenges associated with implementing DDS in robotic systems, such as security vulnerabilities, performance and scalability requirements, and the complexities of real-time data transmission. By analyzing recent advancements and case studies, we provide insights into the potential of DDS to overcome these challenges while ensuring robust and reliable communication in dynamic environments. This paper aims to contribute to the transformative impact of DDS-based middleware in robotics, offering a comprehensive overview of its benefits, applications, and security implications. Our findings underscore the necessity for continued research and development in this area, paving the way for more resilient and intelligent robotic systems that operate effectively in real-world scenarios. This review not only fills existing gaps in the literature but also serves as a foundational resource for researchers and practitioners seeking to leverage DDS in the design and implementation of next-generation robotic solutions.