Seems like "middleware" is the term in robotics for the platform that lets the different components (usually system processes) communicate with each other. I'd previously thought about whether OSGi might be a good fit for that.
I searched a bit and found a Tobias Wegner that seems to be doing something like that, but I haven't found any papers from him at Google Scholar. Maybe I should try contacting him sometime to see about the status of his thesis.
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