(WIP) At Most M - A Flexible Redundancy Model for Cloud Robotics

摘要

The current trend in industry to augment lightweight and inexpensive robots with cloud-based distributed intelligence for executing complex, collaborative tasks has led to the emergence of fields like Internet of Robotic Things (IoRT) and Cloud Robotics (CR). However, reliable execution of orchestrated jobs in a networked setup with chances of infrastructural failures remains a concern. The only perceivable solution is resource redundancy, where the traditional approaches are not cost effective for tightly budgeted IoRT/CR deployments. In this work, an agile redundancy model, At most M, is proposed, which provides a handle to tune the trade-off between resource cost and reliability. The model is evaluated in a simulated warehouse environment with robots, drones, AGVs and private cloud servers deployed to accomplish multiple pickup and delivery tasks. The benefits w.r.t. resource usage cost by using our optimized redundancy model is illustrated and the trade-off between cost and reliability is demonstrated.