I have used TIBCO Rendezvous (RV Message), ActiveMQ (JMS), and RabbitMQ(AMQP) before. They all have message broker, which means all the messages will be send to broker (centralized control) first, and then the client or node will receives them later. But, ZeroMQ has totally different story. I personally believe that it could be a very good solution for building up distributed system.
http://www.zeromq.org/
And also, this article gives the short introduction and summarizes the important items including "communication transport", "End Point Implementation", "The Socket Object", and so on about ZeroMQ. This content is very uesful for beginner to get to know and read first.
http://www.coastrd.com/zeromq-messaging
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