Cloud robotics: A software architecture: For heterogeneous large-scale autonomous robots

摘要

The paper proposes a software architecture for cloud robotics which intends three subsystems in the cloud environment: Middleware Subsystem, Background Tasks Subsystem, and Control Subsystem. The architecture invokes cloud technologies such as cloud computing, cloud storage, and other networking platforms arranged on the assistances of congregated infrastructure and shared services for robotics, for instance Robot Operating System (ROS). Since the architecture is looking for reliable, scalable, and distributed system for the heterogeneous large-scale autonomous robots, Infrastructure as a Service (IaaS) is chosen among the cloud services. Three major tasks can be handled by the proposed software architecture Computing, Storage, and Networking. Hadoop-MapReduce provides the appropriate framework in the cloud environment to process and handle these tasks.