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MundoCore is a communication middleware specifically designed for the requirements of pervasive computing. To address the high degree of heterogeneity of platforms and networking technologies, it is based on a microkernel design, supports dynamic reconfiguration, and provides a common set of APIs for different programming languages (Java, C++, Python) on a wide range of different devices. The architectural model addresses the need for proper language bindings, different communication abstractions, peer-to-peer overlays, different transport protocols, different invocation protocols, and automatic peer discovery.