The Internet Communications Engine (Ice) is a modern object-oriented middleware with support for C++, .NET, Java, Python, Objective-C, Ruby, and PHP. Ice is used in many mission-critical projects by companies all over the world. Ice is easy to learn, yet provides a powerful network infrastructure and vast array of features for demanding technical applications. Ice is free software, available with full source, and released under the terms of GNU General Public License (GPL). Commercial licenses are available for customers who wish to use Ice for closed-source software.
L. Ollinger, D. Zühlke, A. Theorin, and C. Johnsson. Proceedings of the 18th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2013), Cagliari, Italy, (2013)
A. Theorin, L. Ollinger, and C. Johnsson. Service Orientation in Holonic and Multi Agent Manufacturing and Robotics, volume 472 of Studies in Computational Intelligence, chapter 14, Springer, Heidelberg, (2013)