Binhuai Xu
ABSTRACT
The paradigm of cloud robotics points out a direction for the future development of robots. By deploying robotic applications in the cloud, the workload and cost of local robots are greatly reduced. The rise of microservices and cloud-native technology provides conveniences and guarantees for the development and deployment of cloud applications. This paper proposes a cloud robotic application platform design based on microservices. With the help of Robot Operating System (ROS), we can use the existing rich and diverse robot software packages and deploy them in the cloud without extra modifications. Through the microservices architecture and container technology, robotic applications can be further decoupled in the cloud. That improves the flexibility and compatibility of the platform and embodies the core idea of microservices. In the end, we present a demonstration to cooperate with a simulated robot to complete the simultaneous localization and mapping (SLAM) task, which verifies the feasibility of our design.
- Rajesh Arumugam, Vikas Reddy Enti, Liu Bingbing, Wu Xiaojun, Krishnamoorthy Baskaran, Foong Foo Kong, A Senthil Kumar, Kang Dee Meng, and Goh Wai Kit. 2010. DAvinCi: A cloud computing framework for service robots. In 2010 IEEE international conference on robotics and automation. IEEE, 3084–3089.Google Scholar
Cross Ref
- Steve Cousins. 2011. Exponential growth of ros [ros topics]. IEEE Robotics & Automation Magazine 1, 18 (2011), 19–20.Google Scholar
- Christopher Crick, Graylin Jay, Sarah Osentoski, Benjamin Pitzer, and Odest Chadwicke Jenkins. 2017. Rosbridge: ROS for Non-ROS Users. Springer International Publishing, Cham, 493–504. https://doi.org/10.1007/978-3-319-29363-9_28Google Scholar
- Gazebo. 2014. Gazebo: Robot simulation made easy. http://gazebosim.orgGoogle Scholar
- [5] gmapping.2019. http://wiki.ros.org/gmappingGoogle Scholar
- Kubernetes. 2020. Production-Grade Container Orchestration: Automated container deployment, scaling, and management. https://kubernetes.io/Google Scholar
- James Kuffner. 2010. Cloud-enabled Humanoid Robots. In Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on. Nashville TN.Google Scholar
- James Lewis and Martin Fowler. 2014. Microservices. https://martinfowler.com/articles/microservices.htmlGoogle Scholar
- Dirk Merkel. 2014. Docker: lightweight linux containers for consistent development and deployment. Linux journal 2014, 239 (2014), 2.Google ScholarDigital Library
- Gajamohan Mohanarajah, Dominique Hunziker, Raffaello D’Andrea, and Markus Waibel. 2014. Rapyuta: A cloud robotics platform. IEEE Transactions on Automation Science and Engineering 12, 2(2014), 481–493.Google ScholarCross Ref
- Nacos. 2018. Nacos: an easy-to-use dynamic service discovery, configuration and service management platform for building cloud native applications. https://nacos.io/en-us/Google Scholar
- [12] navigation.2020. http://wiki.ros.org/navigationGoogle Scholar
- Morgan Quigley, Ken Conley, Brian Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, and Andrew Y Ng. 2009. ROS: an open-source Robot Operating System. In ICRA workshop on open source software. Kobe, Japan, 5.Google Scholar
- Luis Riazuelo, Javier Civera, and JM Martınez Montiel. 2014. C2tam: A cloud framework for cooperative tracking and mapping. Robotics and Autonomous Systems 62, 4 (2014), 401–413.Google ScholarDigital Library
- Chris Richardson and Floyd Smith. 2016. Microservices: From Design to Deployment. https://www.nginx.com/blog/microservices-from-design-to-deployment-ebook-nginx/Google Scholar
- AWS RoboMaker. 2020. AWS RoboMaker: Simulate and deploy robotic applications at cloud scale. https://aws.amazon.com/robomaker/Google Scholar
- Ashutosh Saxena, Ashesh Jain, Ozan Sener, Aditya Jami, Dipendra K Misra, and Hema S Koppula. 2014. Robobrain: Large-scale knowledge engine for robots. arXiv preprint arXiv:1412.0691(2014).Google Scholar
- Russell Toris, Julius Kammerl, David V Lu, Jihoon Lee, Odest Chadwicke Jenkins, Sarah Osentoski, Mitchell Wills, and Sonia Chernova. 2015. Robot web tools: Efficient messaging for cloud robotics. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, IEEE, 4530–4537.Google ScholarDigital Library
- [19] TurtleBot3.2020. https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/Google Scholar
- Markus Waibel, Michael Beetz, Javier Civera, Raffaello d’Andrea, Jos Elfring, Dorian Galvez-Lopez, Kai Häussermann, Rob Janssen, JMM Montiel, Alexander Perzylo, 2011. Roboearth. IEEE Robotics & Automation Magazine 18, 2 (2011), 69–82.Google ScholarCross Ref
- Shangmin Wen, Bo Ding, Huaimin Wang, Ben Hu, Hui Liu, and Peichang Shi. 2016. Towards migrating resource-consuming robotic software packages to cloud. In 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, IEEE, Angkor Wat, Cambodia, 283–288.Google ScholarCross Ref
- Olaf Zimmermann. 2017. Microservices tenets. Computer Science-Research and Development 32, 3-4 (2017), 301–310.Google ScholarDigital Library
- A Cloud Robotic Application Platform Design Based on the Microservices Architecture
Recommendations
Cloud Robotics: SLAM and Autonomous Exploration on PaaS
UCC '17 Companion: Companion Proceedings of the10th International Conference on Utility and Cloud ComputingRobots are moving out of factories, service robotics is bringing them to our homes, work environments, cities, and outdoors. While the Robot Operating System (ROS) is promising to open the world of robotics to developers, a proper platform and ecosystem ...
Robotic Technology-Based Cloud Computing for Improved Services
AbstractCloud is Internet-based utility computing which offers a choice to rent and use the computational resources on subscription basis. It has the service-oriented and deployment models which would provide suitable services to the end-users. Robotics ...
The PoundCloud framework for ROS-based cloud robotics: Case studies on autonomous navigation and human–robot interaction
AbstractDespite the increasing popularity of the cloud robotics paradigm, the literature on the field still lacks comprehensive analysis on several aspects of the technology. Therefore, the adoption of common standards and frameworks is ...
Highlights- Introduce an open framework based on ROS for robot-cloud communication.
- Our ...
Comments