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Seaware is a publish-subscribe middleware used in multi-vehicle networked systems composed of autonomous and semi-autonomous vehicles and systems. Seaware provides a high level interface to network communications and may be deployed with a combination of heterogeneous components within a dynamic network. Seaware supports the RTPS (Real Time Publish Subscribe) protocol, underwater acoustic modems and other forms of network transport. This paper gives an overview of Seaware's implementation and its application to multi-vehicle networked systems.doi:10.3182/20061002-2-br-4906.00019 fatcat:vej6k2vjsbcyvntsxdvmcbk4yq