ORTE

http://orte.sourceforge.net/

The Open Real-Time Ethernet (ORTE) is an open source implementation of Real-Time Publish-Subscribe (RTPS) communication protocol. RTPS is new application layer protocol targeted to real-time communication area, which is build on the top of standard UDP stack. Since there are many TCP/IP stack implementations under many operating systems and RTPS protocol does not have any other special HW/SW requirements, it should be easily ported to many HW/SW target platforms. Because it uses only UDP protocol, it retains control of timing and reliability.

http://orte.sourceforge.net/rtn08_orte.pdf