OROS: Online Operation and Orchestration of Collaborative Robots Using 5G

Abstract

The 5G mobile networks extend the capability for supporting collaborative robot operations in outdoor scenarios. However, the restricted battery life of robots still poses a major obstacle to their effective implementation and utilization in real scenarios. One of the most challenging situations is the execution of mission-critical tasks that require the use of various onboard sensors to perform simultaneous localization and mapping (SLAM) of unexplored environments. Given the time-sensitive nature of these tasks, completing them in the shortest possible time is of the highest importance. In this paper, we analyze the benefits of 5G-enabled collaborative robots by enhancing the intelligence of the robot operation through joint orchestration of Robot Operating System (ROS) and 5G resources for energysaving goals, addressing the problem from both offline and online manners. We propose OROS, a novel orchestration approach that minimizes mission-critical task completion times as well as overall energy consumption of 5G-connected robots by jointly optimizing robotic navigation and sensing together with infrastructure resources. We validate our 5G-enabled collaborative framework by means of Matlab/Simulink, ROS software and Gazebo simulator. Our results show an improvement between 3.65% and 11.98% in exploration task by exploiting 5G orchestration features for battery savings when using 3 robots.

Research on the System Design and Target Recognition Method of the Rebar-Tying Robot

“…Moreover, there are t rebar-tying robots available on the market, TyBot and Ironbot, but both need to be u with gantries [16]. These gantry robots are not only costly and time-consuming to inst To address the actual demand for planar rebar tying, we independently developed a walking robot that can walk on the surface of rebar and designed a new control system for this type of robot based on the robot operating system (ROS) [17][18][19] combined with visual recognition technology. The self-developed rebar-tying robot can realize autonomous navigation on large-scale bearing platforms and bridge deck slabs without boundary conditions, the autonomous positioning of the tying of rebar intersection locations, and the intelligent planning of tying paths.…”