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A Software Stack for Composable Cloud Robotics System

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Algorithms and Architectures for Parallel Processing (ICA3PP 2020)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 12453))

Abstract

Modern cloud robotic applications face new challenges in managing today’s highly distributed and heterogeneous environment. For example, the application programmers must make numerous systematical decisions between the local robot and the cloud server, such as computation deployment, data sharing and function integration.

In this paper, we propose RobotCenter, a composable cloud robotics operating system for developing and deploying robotics applications. RobotCenter provides three key functionalities: runtime management, data management and programming abstraction. With these functionalities, RobotCenter enables application programmers to easily develop powerful and diverse robotics applications. Meanwhile, it can efficiently execute these applications with high performance and low energy consumption. We implement a prototype of the design above and use an example of AGV/UAV cooperative transport application to illustrate the feasibility of RobotCenter. In the experiment, we reduce the total energy consumption and mission completion time up to 41.2% and 51.5%, respectively.

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Notes

  1. 1.

    The experiment video can be found in https://youtu.be/KeYyS6lZxo0.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Computer Architecture, ICT, CAS, Beijing, China

    Yuan Xu, Sa Wang & Yungang Bao

  2. University of Chinese Academy of Sciences, Beijing, China

    Yuan Xu, Sa Wang & Yungang Bao

  3. Nanyang Technological University, Singapore, Singapore

    Tianwei Zhang

Authors
  1. Yuan Xu
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  2. Tianwei Zhang
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  3. Sa Wang
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  4. Yungang Bao
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Corresponding author

Correspondence to Yuan Xu .

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Editors and Affiliations

  1. Columbia University, New York, NY, USA

    Meikang Qiu

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Xu, Y., Zhang, T., Wang, S., Bao, Y. (2020). A Software Stack for Composable Cloud Robotics System. In: Qiu, M. (eds) Algorithms and Architectures for Parallel Processing. ICA3PP 2020. Lecture Notes in Computer Science(), vol 12453. Springer, Cham. https://doi.org/10.1007/978-3-030-60239-0_48

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