Integrating Smart Resources in ROS-based systems to distribute services
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
- Referencias
- Cómo citar
- Del mismo autor
- Métricas
Chen, H., Cheng, H., Zhang, B., Wang, J., Fuhlbrigge, T., and Liu, J., 2013. Semiautonomous industrial mobile manipulation for industrial applications. In Cyber Technology in Automation, Control and Intelligent Systems (CYBER), 2013 IEEE 3rd Annual International Conference on, pages 361-366. IEEE. https://doi.org/10.1109/cyber.2013.6705472
Cousins, S., 2011. Exponential growth of ros [ros topics]. IEEE Robotics & Automation Magazine, 1 (18):19-20. Cousins, S., Gerkey, B., Conley, K., and Garage, W., 2010. Sharing software with ros [ros topics]. Robotics & Automation Magazine, IEEE, 17 (2): 12-14. https://doi.org/10.1109/MRA.2010.936956
Crick, C., Jay, G., Osentoski, S., Pitzer, B., and Jenkins, O. C., 2011. Rosbridge: Ros for non-ros users. In Proceedings of the 15th International Symposium on Robotics Research.
Elkady, A. and Sobh, T., 2012. Robotics middleware: A comprehensive literature survey and attribute-based bibliography. Journal of Robotics, 2012. https://doi.org/10.1155/2012/959013
Estefó, P., Campusano, M., Fabresse, L., Fabry, J., Laval, J., and Bouraqad, N., 2014. Towards Live Programming in ROS with PhaROS and LRP. arXiv preprint arXiv:1412.4629.
Eugster, P. T., Felber, P. A., Guerraoui, R., and Kermarrec, A.-M., 2003. The many faces of publish/subscribe. ACM Computing Surveys (CSUR), 35 (2):114-131. https://doi.org/10.1145/857076.857078
Koenig, N. and Howard, A., 2004. Design and use paradigms for gazebo, an open-source multi-robot simulator. In Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, volume 3, pages 2149-2154. IEEE. https://doi.org/10.1109/iros.2004.1389727
Liu, F., Narayanan, A., and Bai, Q., 2000. Real-time systems.
Meijer, G. C., Meijer, C. M., and Meijer, C. M., 2008. Smart sensor systems. Wiley Online Library. https://doi.org/10.1002/9780470866931
Munera, E., Poza-Lujan, J.-L., Posadas-Yagüe, J.-L., Simó-Ten, J.-E., and Noguera, J. F. B., 2015. Dynamic Reconfiguration of a RGBD Sensor Based on QoS and QoC Requirements in Distributed Systems. Sensors, 15 (8):18080-18101. https://doi.org/10.3390/s150818080
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., and Ng, A. Y., 2009. ROS: an open-source Robot Operating System. In ICRA workshop on open source software, volume 3, page 5.
Remy, S. L. and Blake, M. B., 2011. Distributed service-oriented robotics. Internet Computing, IEEE, 15 (2):70-74. https://doi.org/10.1109/MIC.2011.38
Saraydaryan, J., Jumel, F., and Guenard, A., 2014. ASTRO: Architecture of services toward robotic objects. International Journal of Computer Science Issues (IJCSI), 11 (4):1.
Cousins, S., 2011. Exponential growth of ros [ros topics]. IEEE Robotics & Automation Magazine, 1 (18):19-20. Cousins, S., Gerkey, B., Conley, K., and Garage, W., 2010. Sharing software with ros [ros topics]. Robotics & Automation Magazine, IEEE, 17 (2): 12-14. https://doi.org/10.1109/MRA.2010.936956
Crick, C., Jay, G., Osentoski, S., Pitzer, B., and Jenkins, O. C., 2011. Rosbridge: Ros for non-ros users. In Proceedings of the 15th International Symposium on Robotics Research.
Elkady, A. and Sobh, T., 2012. Robotics middleware: A comprehensive literature survey and attribute-based bibliography. Journal of Robotics, 2012. https://doi.org/10.1155/2012/959013
Estefó, P., Campusano, M., Fabresse, L., Fabry, J., Laval, J., and Bouraqad, N., 2014. Towards Live Programming in ROS with PhaROS and LRP. arXiv preprint arXiv:1412.4629.
Eugster, P. T., Felber, P. A., Guerraoui, R., and Kermarrec, A.-M., 2003. The many faces of publish/subscribe. ACM Computing Surveys (CSUR), 35 (2):114-131. https://doi.org/10.1145/857076.857078
Koenig, N. and Howard, A., 2004. Design and use paradigms for gazebo, an open-source multi-robot simulator. In Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, volume 3, pages 2149-2154. IEEE. https://doi.org/10.1109/iros.2004.1389727
Liu, F., Narayanan, A., and Bai, Q., 2000. Real-time systems.
Meijer, G. C., Meijer, C. M., and Meijer, C. M., 2008. Smart sensor systems. Wiley Online Library. https://doi.org/10.1002/9780470866931
Munera, E., Poza-Lujan, J.-L., Posadas-Yagüe, J.-L., Simó-Ten, J.-E., and Noguera, J. F. B., 2015. Dynamic Reconfiguration of a RGBD Sensor Based on QoS and QoC Requirements in Distributed Systems. Sensors, 15 (8):18080-18101. https://doi.org/10.3390/s150818080
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., and Ng, A. Y., 2009. ROS: an open-source Robot Operating System. In ICRA workshop on open source software, volume 3, page 5.
Remy, S. L. and Blake, M. B., 2011. Distributed service-oriented robotics. Internet Computing, IEEE, 15 (2):70-74. https://doi.org/10.1109/MIC.2011.38
Saraydaryan, J., Jumel, F., and Guenard, A., 2014. ASTRO: Architecture of services toward robotic objects. International Journal of Computer Science Issues (IJCSI), 11 (4):1.
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
Most read articles by the same author(s)
- Jose-Luis Jiménez-García, David Baselga-Masia, Jose-Luis Poza-Luján, Eduardo Munera, Juan-Luis Posadas-Yagüe, José-Enrique Simó-Ten, Smart device definition and application on embedded system: performance and optimi-zation on a RGBD sensor , ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal: Vol. 3 No. 1 (2014)
Downloads
Download data is not yet available.
+
−