xBus
SAUVIM uses a client-server approach for delivering information from and to each distributed module.
Each subsystem embeds a custom TCP-IP client-server communication system (xBus). Within this architecture, every server can deliver the requested information on-demand to any number of clients, and this configuration allows a different utilization of the bandwidth, since every data is broadcasted only on demand.
Other then allowing data echang betweent different modules (navigation server, DIDSON, Manipulator, etc.), xBus could be employed in multi-AUV systems.
