Abstract
With the advances in networking technologies, robots can use the almost unlimited resources of large data centers, overcoming the severe limitations imposed by onboard resources: this is the vision of Cloud Robotics. In this context, we present DewROS, a framework based on the Robot Operating System (ROS) which embodies the three-layer, Dew-Robotics architecture, where computation and storage can be distributed among the robot, the network devices close to it, and the Cloud. After presenting the design and implementation of DewROS, we show its application in a real use-case called SHERPA, which foresees a mixed ground and aerial robotic platform for search and rescue in an alpine environment. We used DewROS to analyze the video acquired by the drones in the Cloud and quickly spot signs of human beings in danger. We perform a wide experimental evaluation using different network technologies and Cloud services from Google and Amazon. We evaluated the impact of several variables on the performance of the system. Our results show that, for example, the video length has a minimal impact on the response time with respect to the video size. In addition, we show that the response time depends on the Round Trip Time (RTT) of the network connection when the video is already loaded into the Cloud provider side. Finally, we present a model of the annotation time that considers the RTT of the connection used to reach the Cloud, discussing results and insights into how to improve current Cloud Robotics applications.
Highlights
Cloud Robotics aims to create a new generation of robots, in which at least some of the resources, in terms of computing, memory, and storage, are provided by externalData Centers
We provided a few contributions in this important research area, in terms of a platform that we developed for real applications and experimental analysis, which was performed thanks to its application in a real use case
Robotics paradigm—where the computations are split among the robot, more powerful devices close to it, and the Cloud—and on the Robot Operating System
Summary
Cloud Robotics aims to create a new generation of robots, in which at least some of the resources, in terms of computing, memory, and storage, are provided by external. We concentrate on the application of DewROS in a real usecase, in the context of a European Project called SHERPA [4,5] This project aims to develop a mixed-ground and aerial robotic platform for Search and Rescue (SAR) operations in alpine environments. DewROS framework, we briefly report the results of our previous work on Cloud Robotics in hazardous environments (see [5]), in which different network technologies are analyzed to define those most suitable for Cloud Robotics in a remote and hostile environment In this previous paper, we introduced the possibility of using Cloud Computing for the Sherpa project. A large experimental campaign using different Internet access technologies is presented, including a real satellite one, and two real Cloud services For this scope, more than 600 annotation video labeling experiments were performed with Google Cloud Video.
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