Design of a cloud robotics middleware based on web service technology

Luo, Jie; Zhang, Lei; Zhang, Huaxi Yulin

doi:10.1109/icar.2017.8023654

Cited by 8 publications

(6 citation statements)

References 9 publications

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“…Polling solutions are not feasible for low-level remote control (as teleoperation) [16] Based on the use of SpaceBrew It is not clear if visibility among agents is requested or managed by SpaceBrew. Some limitations are presented in the paper but not discussed [18] Communication based on a proxy virtual machine Listed results are limited to one robot [19] Based on three subsystems in the cloud environment: middleware subsystem, background tasks subsystem, and control subsystem Built upon the ROS Multimaster FKIE [20], which requires bi-directional visibility among all the agents in the system [21] Based on WebSocket protocol to guarantee the bi-directionality of the flow of data Visibility requirements between the agents not detailed. Still limited in an early developer program [10] New protocol, similar to rosbridge protocol Tests limited to few simulated robots…”

Section: Features Of the System Used Limitation Of The Presented Workmentioning

confidence: 99%

“…The experimental setups differ from each other based on the number of agents (users and robots), network infrastructures and scenarios. For the works described in [10,18], the number of user-robot pairs is always equal to or higher than three.…”

Section: Experimentationmentioning

confidence: 99%

“…In the work presented in [18], ROS packages are encapsulated as web services in cloud virtual machines and a middleware based on web service technology is designed as the core of the whole cloud robotics system. This is responsible for parsing the cloud robotics task requests and scheduling ROS nodes in a distributed network.…”

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confidence: 99%

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A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

2020

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The cloud robotics paradigm aims at enhancing the abilities of robots by using cloud services, but it still poses several challenges in the research community. Most of the current literature focuses on how to enrich specific robotic capabilities, overlooking how to effectively establish communication between the two fields. Our work proposes a "plug-and-play" solution to bridge the communication gap between cloud and robotic applications. The proposed solution is designed based on the mature WebSocket technology and it can be extended to any ROS-based robotic platform. The main contributions of this work are the definition of a reliable autoconnection/autoconfiguration mechanism as well as to outline a scalable communication layer that allows the effective control of multiple robots from multiple users. The "plug-and-play" solution was evaluated in both simulated and real scenarios. In the first case, the presence of users and robots was simulated with Robot Operating System (ROS) nodes running on five machines. In the real scenario, three non-expert users teleoperated, simultaneously, three remote robots by using the proposed communication layer with different networking protocols. Results confirmed the reliability at different levels: at startup (success_rate = 100%); during high-rate communications (message_lost = 0%); in performing open-loop spiral trajectories with enhancement, with respect to similar works; and in the quality of simultaneous teleoperations.

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Section: Features Of the System Used Limitation Of The Presented Workmentioning

confidence: 99%

Section: Experimentationmentioning

confidence: 99%

See 1 more Smart Citation

A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

2020

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“…Architecture [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] Development of software Execution and round-trip communication architecture for heterogeneous time for SLAM and robotic manipulation robots to share sensor tasks. data between processing nodes for computationally intense algorithms.…”

Section: Work Contribution Metrics and Evaluation Techniquesmentioning

confidence: 99%

“…In order to alleviate the complexities associated with setup and configuration of majority of the cloud robotics systems, Hajjaj et al [11] proposed an alternative method called Port Forwarding which offers a private, secured and direct ROS-to-ROS connection, thus eliminating the requirement for a dedicated middleware. Luo et al [14] designed a cloud robotics middleware based on the Web service technology which parses the Cloud Robotics task request and schedules ROS nodes in a distributed network. In [15], the authos introduced an Open Mobile Cloud Robotics Interface (OMCRI) as a Robot-as-a-Service vision-based platform that offers a unified easy access to remote heterogeneous mobile robots.…”

Section: Cloud Robotics System Architecturesmentioning

confidence: 99%

A Comprehensive Survey of Recent Trends in Cloud Robotics Architectures and Applications

2018

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Cloud robotics has recently emerged as a collaborative technology between cloud computing and service robotics enabled through progress in wireless networking, large scale storage and communication technologies, and the ubiquitous presence of Internet resources over recent years. Cloud computing empowers robots by offering them faster and more powerful computational capabilities through massively parallel computation and higher data storage facilities. It also offers access to open-source, big datasets and software, cooperative learning capabilities through knowledge sharing, and human knowledge through crowdsourcing. The recent progress in cloud robotics has led to active research in this area spanning from the development of cloud robotics architectures to its varied applications in different domains. In this survey paper, we review the recent works in the area of cloud robotics technologies as well as its applications. We draw insights about the current trends in cloud robotics and discuss the challenges and limitations in the current literature, open research questions and future research directions.

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