Integrating Smart Resources in ROS-based systems to distribute services

  • Eduardo Munera
    University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)
  • Jose-Luis Poza-Lujan
    University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain) jopolu[at]disca.upv.es
  • Juan-Luis Posadas-Yagüe
    University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)
  • Jose-Enrique Simó-Ten
    University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)
  • Francisco Blanes
    University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)

Abstract

Mobile robots need to manage a lot of sensors and actuators using micro-controllers.To do complexes tasks, a highly computation central unit is also needed. In many cases, a robot is a intelligent distributed system formed with a central unit, which manages and distributes several specific tasks to some micro-controller embedded systems onboard.Now these embedded systems are also evolving to more complex systems that are developed not only for executing simple tasks but offering some advanced algorithmsjust as complex data processing, adaptive execution, or fault-tolerance and alarm rising mechanisms. To manage these types of embedded systems a paradigm, calledSmart Resource has been developed. Smart Resources topology has been raised to manage resources which execution relies on a physical embedded hardware. TheseSmart Resources are defined as a list of distributed services that can configure its execution in order to accomplish a context and quality requirements. In order to provide a more general implementation Smart Resources are integrated into the RobotOperating System (ROS). Paper presents a solution based on the Turtlebot platformrunning ROS. The solution shows how robots can make use of all the functions andmechanisms provided by the ROS and the distribution, reliability and adaptability ofthe Smart Resources. In addition it is also addressed the flexibility and scalability ofimplementation by combining real and simulated devices into the same platform
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Munera, E., Poza-Lujan, J.-L., Posadas-Yagüe, J.-L., Simó-Ten, J.-E., & Blanes, F. (2017). Integrating Smart Resources in ROS-based systems to distribute services. ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal, 6(1), 13–19. https://doi.org/10.14201/ADCAIJ2017611319

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Author Biographies

Eduardo Munera

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University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)
Eduardo Munera received his B.D in Computer Science Degree in 2010 and his M.D. in Control Systems and Industrial Computing in 2012. In 2014 he was granted with a Spanish government scholarship for founding his PhD research. He is currently working as a researcher for the Institute of Control Systems and Industrial Computing (ai2) of the Polytechnic University of Valencia (Spain) since 2012. In 2015 Munera also worked as a Research Visitor in collaboration with the State Key Laboratory of Synthetical Automation for Process Industries in the Shenyang Northeastern University (China). Main research topics are focus on embedded control systems, real time applications, computer vision and mobile robotics (navigation and coordination)

Jose-Luis Poza-Lujan

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University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)
Jose-Luis Poza-Lujan. Valencia, Spain 1969, received the B.S. degree in education from Valencia University in 1990 and the B.S. degree in computing from Technical Valencia University, Valencia (UPV), in 1999. He received his Ph.D. degree in informatics from the Technical University of Valencia in 2012, where he has worked since 2000. He is a currently a lecturer and researcher at the UPV, in the fields of smart devices and intelligent distributed control networks. His educational research interests include social networks, soft skills for engineering, and student competency management

Juan-Luis Posadas-Yagüe

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University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)
Juan-Luis Posadas-Yagüe received the M.Sc. and Ph.D. degrees in Computer Engineering from the Universitat Politècnica de València, Spain, in 1996 and 2003 respectively. He is currently an Associate Professor in the Department of Computer Engineering at the Universitat Politècnica de València and he has taught computer architecture at School of Engineering in Computer Science since 1997. His research interests include distributed systems, real-time mobile robot control and coordination, code delegation, multi-agent systems and embedded systems.

Jose-Enrique Simó-Ten

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University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)
José E. Simó received the MS degree in Industrial Engineering in 1990 from the Universidad Politécnica de Valencia (SPAIN) and a PhD degree in Computer Science from the same University in 1997. Since 1990 He has been involved in several National and European research projects mainly related to Real-Time and embedded Systems. He is currently Professor of Computer Engineering at the Technical University of Valencia and his current research is focused on the development of Distributed Embedded Systems, Autonomous Systems and Real Time.

Francisco Blanes

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University Institute of Control Systems and Industrial Computing (ai2) Universitat Politécnica de Valéncia (UPV) Camino de vera, s/n. 46022 Valencia (Spain)
Juan Francisco Blanes received the MS degree in 1994 and PhD degree in 2000, in Computer Engineering from the Universitat Politècnica de València, Spain. Since 1995, he taught real time computer systems and he is currently a professor in the Escola Tècnica Superior d’Enginyeria Informàtica at the Universitat Politècnica de València and director of the Instituto de Automática e Informática Industrial. His research interests include: real-time robot control, perception, and sensor fusion in mobile robots
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